TY - GEN
T1 - Motion planning in dynamic environments using the relative velocity paradigm
AU - Fiorini, Paolo
AU - Shiller, Zvi
PY - 1993
Y1 - 1993
N2 - This paper presents a simple and efficient approach to the computation and avoidance maneuvers among moving obstacles. The method is discussed for the case of a single maneuvering object avoiding several obstacles moving on known linear trajectories. The original dynamic problem is transformed into several static problems using the relative velocity between the maneuvering object and each obstacle. The static problems are then converted into a single problem by means of a vector transformation, then the set of velocity vectors guaranteeing the avoidance of all the obstacles is computed.
AB - This paper presents a simple and efficient approach to the computation and avoidance maneuvers among moving obstacles. The method is discussed for the case of a single maneuvering object avoiding several obstacles moving on known linear trajectories. The original dynamic problem is transformed into several static problems using the relative velocity between the maneuvering object and each obstacle. The static problems are then converted into a single problem by means of a vector transformation, then the set of velocity vectors guaranteeing the avoidance of all the obstacles is computed.
UR - http://www.scopus.com/inward/record.url?scp=0027264303&partnerID=8YFLogxK
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AN - SCOPUS:0027264303
SN - 0818634529
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 560
EP - 566
BT - Proceedings - IEEE International Conference on Robotics and Automation
A2 - Anon, null
T2 - Proceedings of the IEEE International Conference on Robotics and Automation
Y2 - 2 May 1993 through 6 May 1993
ER -