Paper Info
Title
An efficient and generic 2D Inevitable Collision State-checker
Abstract
An Inevitable Collision State (ICS) for a robotic system is a state for which, no matter what the future trajectory of the system is, a collision eventually occurs. ICS can be used for both motion planning (to reduce the search space) and reactive navigation (for obvious safety reasons, a robotic system should never ever move to an ICS). ICS are particularly suited for navigation in dynamic environments since they take into account the future behaviour of the moving objects. Using ICS in practice is difficult given the intrinsic complexity of their characterization. The main contribution of this paper is a generic and efficient ICS-Checker, ie an algorithm that determines whether a given state is an ICS or not, for planar robotic systems with arbitrary dynamics moving in dynamic environments. The efficiency is obtained by applying the fol- lowing principles: (a) reasoning on 2D slices of the state space of the robotic system, (b) precomputing off-line as many things as possible, and (c) exploiting graphics hardware performances. The ICS-Checker has been applied to two different robotic systems: a car-like vehicle and a spaceship. It has also been integrated in a reactive navigation scheme to safely drive the car-like vehicle. Index Terms— Motion safety; Collision avoidance; Dynamic environments; Inevitable Collision States.
Year
DOI
Venue
2008
10.1109/IROS.2008.4650640
IROS
Keywords
Field
DocType
automobiles,collision avoidance,mobile robots,path planning,space vehicles,2D inevitable collision state-checker,car-like vehicle,motion planning,reactive navigation,robotic system,spaceship,Collision avoidance,Dynamic environments,Inevitable Collision States,Motion safety
Motion planning,Computer vision,Graphics hardware,Computer science,Control engineering,Collision,Vehicle dynamics,Artificial intelligence,Robot,State space,Mobile robot,Trajectory
Conference
Citations 
PageRank 
References 
11
0.79
11
Authors
2
Name
Order
Citations
PageRank
Luis Martinez-gomez1312.08
Thierry Fraichard286670.04