P. Fiorini et Z. Shiller, MOTION PLANNING IN DYNAMIC ENVIRONMENTS USING VELOCITY OBSTACLES, The International journal of robotics research, 17(7), 1998, pp. 760-772
Citations number
29
Categorie Soggetti
Robotics & Automatic Control","Robotics & Automatic Control
This paper presents a method for robot motion planning in dynamic envi
ronments. It consists of selecting avoidance maneuvers to avoid static
and moving obstacles in the velocity space, based on the current posi
tions and velocities of the robot and obstacles. It is a first-order m
ethod, since it does not integrate velocities to yield positions as fu
nctions of time. The avoidance maneuvers are generated by selecting ro
bot velocities outside of the velocity obstacles, which represent the
set of robot velocities that would result in a collision with a given
obstacle that moves at a given velocity, at some future time. To ensur
e that the avoidance maneuver is dynamically feasible, the set of avoi
dance velocities is intersected with the set of admissible velocities,
defined by the robot's acceleration constraints. Computing new avoida
nce maneuvers at regular time intervals accounts for general obstacle
trajectories. The trajectory from start to goal is computed by searchi
ng a tree of feasible avoidance maneuvers, computed at discrete time i
ntervals. An exhaustive search of the tree yields near-optimal traject
ories that either minimize distance or motion time. A heuristic search
of the tree is applicable to on-line planning. The method is demonstr
ated for point and disk robots among static and moving obstacles, and
for an automated vehicle in an intelligent vehicle highway system scen
ario.