Generating Timed Trajectories for Autonomous Robot

Autonomous mobile robot control is essential whenever the mobile robots are used in environments, especially when these are not designed for the robots. This is a real constraint in
any situation in which interactions between robots and humans is a required condition, as in hospitals or other public spaces. Autonomous mobile robots working in hazardous or remote
environments constitute another type of possible applications where its control is required. It is also very important when there is incomplete information about the environment and dy-
namic obstacles may appear. These applications are only possible if the autonomous mobile robot is able to perform a suitable trajectory when moving towards a goal while avoiding any
collision within its path in order to keep intact its integrity.

An additional but fundamental issue in the path planning problem for autonomous mobile robot is temporal stabilization of movements, particularly in discrete movements. When a robot, for instance, takes longer to arrive at a goal because it needed to circumnavigate an obstacle, this change of timing is not compensated for by accelerating the vehicle along its trajectory. Controlling the time to execute a particular action is a very critical issue in several robotic tasks including: avoidance of moving obstacles, where the robot must adapt its own velocity in order to avoid the collision; catching, where is essential to reach a object or a point before the time has been elapsed; hitting, in which the robot must perform the movement to hit an object within a time interval; coordination between degrees of freedom where it isessential a time coordination between the different joints; human-robot scenarios and generating sequentially structured actions.

Goals of the project:

Control the trajectories of an autonomous mobile robot with temporal constraints based on a previously existing controller that generates timed trajectories.

The velocity of the robot must present an improved profile taking into account the robot physical perspective.

The velocity of the robot should be adjusted depending on the distance to the obstacle: the closer, the slower the robot moves.

In a real application, while the robot is moving in a world it must be able to detect targets through unique features belonging to them.

To design a mechanism for selecting the most appropriate motor behavior for the robot to execute.

People involved in this project: 
Related publications: 
Silva, J., V. Matos, and C. P. Santos, "Generating Trajectories With Temporal Constraints for an Autonomous Robot", 8th IEEE International Workshop on Safety, Security & Rescue Robotics (SSRR - 2010), Bremen, 2010.
Silva, J., V. Matos, and C. P. Santos, "Timed trajectory generation for a toy-like wheeled robot", IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society, pp. 1645 -1650, nov., 2010.
Project status: 
Past or closed project