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Motion planning of autonomous mobile robots by iterative dynamic programming

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Abstract

We propose a new offline motion planning method for autonomous mobile robots. To minimize traveling time, a smooth path and a time-optimal velocity profile should be generated under kinematic and dynamic constraints. In this study, we develop an effective and practical method to generate a good solution with lower computation time. The initial path is obtained from a Voronoi diagram and spline function, and is improved by iteratively changing via-points. We apply a dynamic programming algorithm to change the via-points, and a Hermite interpolation to generate a smooth trajectory. Simulation results are presented to verify the performance of the proposed method.

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Authors and Affiliations

  1. Department of Control and Robot Engineering, Chungbuk National University, Cheongju, Korea

    Hee-Sang Yoon & Tae-Hyoung Park

Authors
  1. Hee-Sang Yoon
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  2. Tae-Hyoung Park
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Correspondence to Tae-Hyoung Park.

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Yoon, HS., Park, TH. Motion planning of autonomous mobile robots by iterative dynamic programming. Intel Serv Robotics 8, 165–174 (2015). https://doi.org/10.1007/s11370-015-0170-5

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  • DOI: https://doi.org/10.1007/s11370-015-0170-5

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