Minimum wheel-rotation paths for differential drive mobile robots among piecewise smooth obstacles

Hamidreza Chitsaz, Steven M Lavalle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Computing optimal paths for mobile robots is an interesting and important problem. This paper presents a method to compute the shortest path for a differential-drive mobile robot, which is a disc, among piecewise smooth and convex obstacles. To obtain a well-defined notion of shortest, the total amount of wheel rotation is optimized. We use recent characterization of minimum wheel-rotation paths for differential-drive mobile robots with no obstacles [4], [5]. We reduce the search for the shortest path to the search on a finite nonholonomic visibility graph. Edges of the graph are either minimum wheel-rotation trajectories inside the free space or trajectories on the boundary of obstacle region. Vertices of the graph are initial and goal configurations and points on the boundary of obstacle region. We call the search graph a nonholonomic visibility graph because the jump condition of the Pontryagin Maximum Principle gives a necessary condition which is reminiscent of bitangency in wellknown visibility graphs. To the best of our knowledge, this is the first progress on the problem.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages2718-2723
Number of pages6
DOIs
StatePublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/TerritoryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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