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Kinodynamic motion planning with local obstacle avoidance

Grant number: 12/03088-3
Support type:Regular Research Grants
Duration: May 01, 2012 - April 30, 2014
Field of knowledge:Engineering - Electrical Engineering
Principal Investigator:Valdir Grassi Junior
Grantee:Valdir Grassi Junior
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
Assoc. researchers:Denis Fernando Wolf

Abstract

In autonomous navigation tasks, the motion planning is concerned with finding a path or a trajectory that leads the robot from its current state to a desired final state while avoiding collisions with obstacles in the environment. Most of the basic motion planners completely ignore the robot dynamics and consider only its kinematic. However, it is important to consider the dynamic model of the robot together with its kinematic motion constraints at the motion planning when dealing with some kinds of robots and applications in order to find a feasible path for the robot. In this way, the objective of this project is to develop kinodynamic motion planning methods for planning long trajectories while dealing with local modifications of these trajectories to avoid collisions with obstacles observed by the sensors when the trajectory is executed. The kinematic and dynamic motion constraints of the robot will be considered at planning and execution with obstacle avoidance. Simulation and experimental results will be achieved considering a middle size mobile robot and a large size electrical vehicle currently being developed at ICMC-USP with support by the National Institute of Science and Technology on Critical Embedded Systems (INCT-SEC). (AU)