Trajectory Planning for Mobile Robots in Time-Varying Environments Considering User's Specifications.

摘要

In the near future, mobile robots will play an important roll in various tasks in factory automations or indoor services. Such various tasks involve specifications like urgency or safety. As a result, planners must take those factors into account to generate motions for mobile robots. This paper proposes a trajectory planning method addressing this problem : Environment, moving obstacles, robot motion dynamics, and user's specifiaations are described with cost functions, and an optimization technique is applied. Our method can be applied to some time-varying environments that the time-space technique cannot treate, can consider the motion dynamics, and need not prepare particular algorithms for each user's specifiaction.