A methodology for replanning collision free trajectories for a mobile robot

Abstract

A methodology for planning optimized collision free trajectories for a mobile robot is presented. This methodology consists in making necessary modifications to a precomputed trajectory in order to avoid collisions with fixed or moving obstacles not previously considered or detected. The methodology is intended to be used on an online trajectory replanner of a mobile robot and is particularly suited for robots operating in semi-structured environments. The optimization has to do with finding the best trade-off between the best path to accomplish the proposed goals and the flexibility necessary to safely avoid unpredicted obstacles.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>