Using Non-Linear Velocity Obstacles to Plan Motions in a Dynamic Environment

Frederic Large, Sepanta Sekhavat, Zvi Shiller, Christian Laugier

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

31 Scopus citations

Abstract

This paper focuses on real-time motion planning in a dynamic environment. Most of the global existing approaches cannot satisfy real-time due to heavy computation, while local methods don't guarantee reaching the goal. In this paper we present a novel global approach based on the Non-Linear Velocity Obstacle Concept. We use the rich information on the velocities admissible for the robot to build a complete autonomous navigation module, composed of a local obstacle-avoidance system coupled with an incremental global motion planner. Real-time computation issues are discussed. Results obtained in simulation for dynamic environments are presented.

Original languageEnglish
Title of host publicationProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
Pages734-739
Number of pages6
StatePublished - 2002
EventProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 - Singapore, Singapore
Duration: 2 Dec 20025 Dec 2002

Publication series

NameProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002

Conference

ConferenceProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002
Country/TerritorySingapore
CitySingapore
Period2/12/025/12/02

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