Paper Info
Title
Motion planning in dynamic environments using the velocity space
Abstract
This paper addresses a method for robot motion planning in dynamic environments, avoiding the moving and static obstacles while the robot drives towards the goal. The method maps the dynamic environment into a velocity space, using the concept of estimated arriving time to compute the times to potential collision and potential escape. The problem of finding the best motion command is directly treated in the velocity space, providing the trajectory which satisfies an optimization criterium (tipically the minimum time or the shortest path). In this work the method is applied to robots which are subject to both kinematic constraints (i.e. involving the configuration parameters of the robot and their derivatives), and dynamic constraints, (i.e. the constraints imposed by the dynamics of the robot and the limits of its actuators). Some experimental results are discussed.
Year
DOI
Venue
2005
10.1109/IROS.2005.1545110
IROS
Keywords
Field
DocType
collision avoidance,mobile robots,motion control,navigation,optimisation,robot dynamics,robot kinematics,collision avoidance,dynamic constraint,dynamic environment,estimated arriving time,kinematic constraint,mobile robot navigation,motion command,moving obstacles,obstacle avoidance,optimization,potential escape,robot motion planning,static obstacles,trajectory control,velocity space,Mobile robot navigation,dynamic environments,motion planning,velocity space
Motion control,Kinematics,Control theory,Computer science,Control engineering,Artificial intelligence,Trajectory,Motion planning,Computer vision,Shortest path problem,Robot kinematics,Robot,Mobile robot
Conference
Citations 
PageRank 
References 
11
1.07
11
Authors
2
Name
Order
Citations
PageRank
Eduardo Owen1111.41
Luis Montano2545.24