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Motion planning and control of mobile robot using Linear Matrix Inequalities (LMIs)

E. Masehian,Golnaz Habibi

Published 2007 in 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

ABSTRACT

A new motion planning algorithm is proposed for point and disc robots. In this approach, the problem is first formulated as a Binary Integer Programming with variables taken from Delaunay Triangulation of the 2D or n-D Free Configuration Space, and then transformed into LMIs and solved to obtain an optimal channel made of connected triangles. The channel is then used to build safe and short paths within from Start to Goal. It is also possible to weight certain passageways of the space so that the robot can avoid costly routes, which is especially useful for traffic control applications. Finally, a tracking control strategy along trajectory based on preplanned path is applied for a synchronous drive robot. The algorithm is simple, complete, and does not suffer from local minima. It is also extendable to 3 and higher C-spaces.

PUBLICATION RECORD

  • Publication year

    2007

  • Venue

    2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

  • Publication date

    2007-10-01

  • Fields of study

    Mathematics, Computer Science, Engineering

  • Identifiers
    DOI 10.1109/IROS.2007.4399641
  • External record

    Open on Semantic Scholar

  • Source metadata

    Semantic Scholar

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