TY - CHAP

T1 - Motion planning in dynamic environments

AU - Shiller, Zvi

AU - Large, Frederic

AU - Sekhavat, Sepanta

AU - Laugier, Christian

PY - 2007

Y1 - 2007

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=35348920063&partnerID=8YFLogxK

U2 - 10.1007/978-3-540-73422-2_5

DO - 10.1007/978-3-540-73422-2_5

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AN - SCOPUS:35348920063

SN - 354073421X

SN - 9783540734215

T3 - Springer Tracts in Advanced Robotics

SP - 107

EP - 119

BT - Autonomous Navigation in Dynamic Environments

ER -