初期条件に速度を利用する混合整数線形計画法を用いた移動ロボットの軌道生成

抄録

This study proposes a new design method for the mobile robot trajectory generation considering obstacle avoidance using mixed integer linear programming (MILP). In the proposed method, the velocity of a mobile robot as well as the position of the mobile robot are used in the initial condition of MILP. Numerical examples show that the mobile robot collides with obstacles using a conventional method, in which the velocity is not taken into account, and on the other hand, the problem is resolved using the proposed method.