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

34 Scopus citations

Abstract

This paper focuses on red-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
Publisher	Nanyang Technological University
Pages	734-739
Number of pages	6
ISBN (Print)	9810483643, 9789810483647
State	Published - 2002
Event	7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002 - Marine Mandarin, 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
Volume	2

Conference

Conference	7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
Country/Territory	Singapore
City	Marine Mandarin
Period	2/12/02 → 5/12/02

Cite this

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 (pp. 734-739). (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002; Vol. 2). Nanyang Technological University.

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. Nanyang Technological University, 2002. pp. 734-739 (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002).

@inproceedings{99741a3ebe904abda6dbc4eb080d4cfe,

title = "Using non-linear velocity obstacles to plan motions in a dynamic environment",

abstract = "This paper focuses on red-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 = "9810483643",

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

publisher = "Nanyang Technological University",

pages = "734--739",

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

address = "סינגפור",

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

}

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, vol. 2, Nanyang Technological University, pp. 734-739, 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002, Marine Mandarin, 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. Nanyang Technological University, 2002. p. 734-739 (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002; Vol. 2).

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

TY - GEN

T1 - Using non-linear velocity obstacles to plan motions in a dynamic environment

AU - Large, Frederic

AU - Sekhavat, Sepanta

AU - Shiller, Zvi

AU - Laugier, Christian

PY - 2002

Y1 - 2002

N2 - This paper focuses on red-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.

AB - This paper focuses on red-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.

UR - https://www.scopus.com/pages/publications/2342434352

M3 - ???researchoutput.researchoutputtypes.contributiontobookanthology.conference???

AN - SCOPUS:2342434352

SN - 9810483643

SN - 9789810483647

T3 - Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002

SP - 734

EP - 739

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

PB - Nanyang Technological University

T2 - 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002

Y2 - 2 December 2002 through 5 December 2002

ER -

Large F, Sekhavat S, Shiller Z, Laugier C. 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. Nanyang Technological University. 2002. p. 734-739. (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002).

Using non-linear velocity obstacles to plan motions in a dynamic environment

Abstract

Publication series

Conference

Other files and links

Fingerprint

Cite this