中文版 | English
Title

Chase and Track: Toward Safe and Smooth Trajectory Planning for Robotic Navigation in Dynamic Environments

Author
Corresponding AuthorSong, Rui
Publication Years
2023
DOI
Source Title
ISSN
0278-0046
EISSN
1557-9948
Volume70Issue:1Pages:604-613
Abstract
In this article presents a trajectory planning approach toward safe and smooth robot motion in dynamic environments. We develop a hierarchical planning framework with a global planner generating the shortest path between the robot and the navigation target. Specially, a virtual target (VT) is set to run on the global path with a designed velocity. At the local level, the robot chases the VT and tracks the global path when traveling through the dynamic environment. We employ the model predictive control (MPC) framework for the local path generation. In particular, the prediction horizon of the MPC is adaptively changed concerning the distance between the robot and the VT. It implicitly reflects the crowdedness of the environment, which helps reduce the environmental uncertainty. Besides, we develop an event-triggered mechanism that executes the local plan aperiodically to release the computational burden. Based on the local chasing and tracking performance, we develop a global path replanning scheme in response to the untraversable area emerging in the dense environment. The developed framework is validated through extensive experiments in dynamic environments, demonstrating that the robot can reach the target faster and showcase a safer and smoother trajectory in the navigation.
Keywords
URL[Source Record]
Indexed By
SCI ; EI
Language
English
SUSTech Authorship
Others
Funding Project
National Natural Science Foundation of China[62103237] ; Shandong Provincial Natural Science Foundation[ZR2021QF122]
WOS Research Area
Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS Subject
Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS Accession No
WOS:000845325500058
Publisher
EI Accession Number
20220811678367
EI Keywords
Air navigation ; Motion planning ; Predictive control systems ; Robot programming ; Robotics ; Robots ; Trajectories
ESI Classification Code
Air Navigation and Traffic Control:431.5 ; Computer Programming:723.1 ; Control Systems:731.1 ; Robotics:731.5
ESI Research Field
ENGINEERING
Data Source
Web of Science
PDF urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9709214
Citation statistics
Cited Times [WOS]:1
Document TypeJournal Article
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/395936
DepartmentDepartment of Electrical and Electronic Engineering
Affiliation
1.Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China
2.Chinese Univ Hong Kong, Dept Elect Engn, Hong Kong, Peoples R China
3.Southern Univ Sci & Technol, Dept Elect & Elect Engn, Shenzhen 999077, Peoples R China
4.Southern Univ Sci & Technol, Dept Elect & Elect Engn, Shenzhen Key Lab Robot Percept & Intelligence, Shenzhen 518055, Peoples R China
Recommended Citation
GB/T 7714
Wang, Chaoqun,Chen, Xiangyu,Li, Chenming,et al. Chase and Track: Toward Safe and Smooth Trajectory Planning for Robotic Navigation in Dynamic Environments[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(1):604-613.
APA
Wang, Chaoqun,Chen, Xiangyu,Li, Chenming,Song, Rui,Li, Yibin,&Meng, Max Q-H.(2023).Chase and Track: Toward Safe and Smooth Trajectory Planning for Robotic Navigation in Dynamic Environments.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(1),604-613.
MLA
Wang, Chaoqun,et al."Chase and Track: Toward Safe and Smooth Trajectory Planning for Robotic Navigation in Dynamic Environments".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.1(2023):604-613.
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