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

Wang, Chaoqun1; Chen, Xiangyu1; Li, Chenming2,3; Song, Rui1; Li, Yibin1; Meng, Max Q-H4

2023

10.1109/TIE.2022.3148753

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   影响因子和分区

0278-0046

1557-9948

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.

Robots Navigation Vehicle dynamics Planning Dynamics Trajectory Path planning Adaptive horizon model predictive control (MPC) autonomous navigation motion planning

SCI ; EI

英语

其他

National Natural Science Foundation of China[62103237] ; Shandong Provincial Natural Science Foundation[ZR2021QF122]

Automation & Control Systems ; Engineering ; Instruments & Instrumentation

Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation

WOS:000845325500058

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

20220811678367

Air navigation ; Motion planning ; Predictive control systems ; Robot programming ; Robotics ; Robots ; Trajectories

Air Navigation and Traffic Control:431.5 ; Computer Programming:723.1 ; Control Systems:731.1 ; Robotics:731.5

ENGINEERING

Web of Science

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

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.

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.

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.