Motion planning in dynamic environments

Zvi Shiller, Frederic Large, Sepanta Sekhavat, Christian Laugier

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

7 Scopus citations

Abstract

Motion planning in dynamic environments is made possible using the concept of velocity obstacles. It maps the colliding velocities of the robot with any moving or static obstacle to the robot's velocity space. Collision avoidance is achieved by selecting the robot velocity outside the velocity obstacles. This concept was first proposed in [3] for the linear case of obstacles moving on straight line trajectories, and is extended here to obstacles moving along arbitrary trajectories. The non-linear velocity obstacle (NLVO) takes into account the shape, velocity and path curvature of the moving obstacle. It allows to select a single avoidance maneuver (if one exists) that avoids any number of obstacles that move on any known trajectories. The nonlinear v-obstacle can be generated as a time integral of the colliding velocities, or by computing its boundaries using analytic expressions.

Original languageEnglish
Title of host publicationAutonomous Navigation in Dynamic Environments
Pages107-119
Number of pages13
DOIs
StatePublished - 2007

Publication series

NameSpringer Tracts in Advanced Robotics
Volume35
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

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