Name
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. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/ICARCV.2002.1238513 | Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference |
Keywords | Field | DocType |
collision avoidance,navigation,real-time systems,autonomous navigation module,dynamic environment,incremental global motion planner,nonlinear velocity obstacle,obstacle avoidance system,real-time computation issues,real-time motion planning | Motion planning,Obstacle avoidance,Obstacle,Nonlinear system,Control theory,Computer science,Planner,Control engineering,Robot,Computation | Conference |
Volume | ISBN | Citations |
2 | 981-04-8364-3 | 14 |
PageRank | References | Authors |
0.84 | 9 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Frédéric Large | 1 | 14 | 0.84 |
| Scpanta Sckhavat | 2 | 14 | 0.84 |
| Shiller, Z. | 3 | 92 | 16.41 |
| Christian Laugier | 4 | 184 | 28.66 |