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 -