Hybrid Control of Trajectory Planning for Desired Trajectory and Collision Avoidance Based on Optimization Problem for a Wheeled Mobile Robot

Abstract

This paper proposes a hybrid control of trajectory planning for a desired trajectory and collision avoidance based on an optimization problem for a wheeled mobile robot. In the proposed method, the priority of trajectory planning for the desired trajectory and collision avoidance is modified using the priority variable α. The priority variable α is designed by solving the optimization problem with constraints. As a constraint condition, the range of the priority variable α where the robot does not collide with multiple obstacles is derived. Under this constraint condition, the priority variable α with the highest priority of trajectory planning for the desired trajectory is selected as the optimal value. As a result, the velocity commands considering trajectory planning for the desired trajectory and collision avoidance are calculated in real time. The effectiveness of the proposed method is confirmed via experimental results.