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Erschienen in:
2007 | OriginalPaper | Buchkapitel
Motion Planning in Dynamic Environments
verfasst von : Zvi Shiller, Frederic Large, Sepanta Sekhavat, Christian Laugier
Erschienen in: Autonomous Navigation in Dynamic Environments
Verlag: Springer Berlin Heidelberg
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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.