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Collision Avoidance with Optimal Path Replanning for Mobile Robots

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Towards Autonomous Robotic Systems (TAROS 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13054))

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Abstract

This paper generates a collision-free trajectory for wheeled mobile robots in presence of dynamic obstacles. The existing literature solves the collision avoidance problem by changing the velocity vector instantaneously, which is not feasible due to the non-holonomic constraints of robots. So in this work, a smooth change in the velocity vector along with constraints in turn radius has been considered for any required maneuvers. This work also re-plans the path evading re-collision to reach the goal ensuring minimum deviation from the initial path, which was also not addressed in the literature. The low computational requirement of the proposed algorithm allows for online applications on wheeled mobile robots with limited computational resources. The approach is validated through simulations on multiple randomized configurations.

We would like to thank ECR grant, SERB and GOI for their support.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, Kharagpur, India

    Vibhakar Mohta

  2. Department of Aerospace Engineering, Indian Institute of Technology, Kharagpur, Kharagpur, India

    Sagar Dimri, Hariharan Ravichandran & Sikha Hota

Authors
  1. Vibhakar Mohta
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  2. Sagar Dimri
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  3. Hariharan Ravichandran
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  4. Sikha Hota
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Corresponding author

Correspondence to Vibhakar Mohta .

Editor information

Editors and Affiliations

  1. University of Lincoln, Lincoln, UK

    Charles Fox

  2. University of Lincoln, Lincoln, UK

    Junfeng Gao

  3. University of Lincoln, Lincoln, UK

    Amir Ghalamzan Esfahani

  4. University of Lincoln, Lincoln, UK

    Mini Saaj

  5. University of Lincoln, Lincoln, UK

    Marc Hanheide

  6. University of Lincoln, Lincoln, UK

    Simon Parsons

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Mohta, V., Dimri, S., Ravichandran, H., Hota, S. (2021). Collision Avoidance with Optimal Path Replanning for Mobile Robots. In: Fox, C., Gao, J., Ghalamzan Esfahani, A., Saaj, M., Hanheide, M., Parsons, S. (eds) Towards Autonomous Robotic Systems. TAROS 2021. Lecture Notes in Computer Science(), vol 13054. Springer, Cham. https://doi.org/10.1007/978-3-030-89177-0_32

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  • DOI: https://doi.org/10.1007/978-3-030-89177-0_32

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89176-3

  • Online ISBN: 978-3-030-89177-0

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