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

Frederic Large; Sepanta Sekhavat; Zvi Shiller; Christian Laugier

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

Frederic Large, Sepanta Sekhavat, Zvi Shiller, Christian Laugier

Department of Mechanical Engineering and Mechatronics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

32 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 language	English
Title of host publication	Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
Pages	734-739
Number of pages	6
State	Published - 2002
Event	Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 - Singapore, Singapore Duration: 2 Dec 2002 → 5 Dec 2002

Publication series

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

Conference

Conference	Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002
Country/Territory	Singapore
City	Singapore
Period	2/12/02 → 5/12/02

Cite this

Large, Frederic ; Sekhavat, Sepanta ; Shiller, Zvi et al. / Using Non-Linear Velocity Obstacles to Plan Motions in a Dynamic Environment. Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002. 2002. pp. 734-739 (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002).

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title = "Using Non-Linear Velocity Obstacles to Plan Motions in a Dynamic Environment",

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.",

author = "Frederic Large and Sepanta Sekhavat and Zvi Shiller and Christian Laugier",

year = "2002",

language = "אנגלית",

isbn = "9810474806",

series = "Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002",

pages = "734--739",

booktitle = "Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002",

note = "Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 ; Conference date: 02-12-2002 Through 05-12-2002",

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Large, F, Sekhavat, S, Shiller, Z & Laugier, C 2002, Using Non-Linear Velocity Obstacles to Plan Motions in a Dynamic Environment. in Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002. Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002, pp. 734-739, Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002, Singapore, Singapore, 2/12/02.

Using Non-Linear Velocity Obstacles to Plan Motions in a Dynamic Environment. / Large, Frederic; Sekhavat, Sepanta; Shiller, Zvi et al.
Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002. 2002. p. 734-739 (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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