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UID:0-365@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20181017T163000

DTEND;TZID=Asia/Jerusalem:20181017T173000

DTSTAMP:20230527T135752Z

URL:https://aerospace.technion.ac.il/events/investigation-of-mobile-robot-
 time-optimal-trajectories-under-state-dependent-constraints/

SUMMARY:Investigation of Mobile Robot Time Optimal Trajectories under State
  Dependent Constraints
DESCRIPTION:Lecturer:Polina Khmelniker\n Faculty:Department of Aerospace En
 gineering\n Institute:Technion – Israel Institute of Technology\n Locati
 on:Classroom 165\, ground floor\, Library\, Aerospace Eng.\n Zoom: \n Abst
 ract: \n Details: \n As the use of autonomous robotic vehicles is increasi
 ng in everyday applications\, issues regarding the performance of these ve
 hicles become important research problems. The main performance concerns a
 re optimization issues\, such as travel time\, length and energy expenditu
 re.\n\nThis thesis studied the time optimal navigation problem of an auton
 omous mobile robot\, navigating in a planar environment containing a singl
 e polygonal obstacle. The robot is subjected to state-dependent safety con
 straints that prevent an inevitable collision with the obstacle during nav
 igation. The mobile robot is also subject to a constraint on its minimal t
 urning radius.  While being subjected to these constraints\, the goal of 
 the mobile robot is to navigate from a given start point and heading to a 
 target point\, which can possibly be located on the obstacle boundary (a d
 ocking problem).   The thesis obtained analytical and numerical results 
 concerning the safe time optimal path. Specifically\, the safe time optima
 l path consists of three types of path primitives: minimum radius of turn 
 circular arcs\, full linear acceleration\, and generalized cycloid curves 
 which represent navigation at speeds on the verge of inevitable collision 
 with the obstacle. Extensive numerical examples will demonstrate the resul
 ts.
CATEGORIES:Seminars
LOCATION:Classroom 165\, ground floor\, Library\, Aerospace Eng.

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