Paper Info
Title
Dynamic Obstacle Avoidance using Online Trajectory Time-scaling and Local Replanning.
Abstract
In various circumstances, planning at trajectory level is very useful to generate flexible collision-free motions for autonomous robots, especially when the system interacts with humans or human environment. This paper presents a simple and fast obstacle avoidance algorithm that operates at the trajectory level in real-time. The algorithm uses the Velocity Obstacle to obtain the boundary conditions required to avoid a dynamic obstacle, and then adjust the time evolution using the non-linear trajectory time-scaling scheme. A trajectory local replanning method is applied to make a detour when the static obstacles block the advance path of the robot, which leads to failure of implementing time-scaling approach. Cubic polynomial functions are used to describe trajectories, which brings sufficient flexibility in terms of providing higher order smoothness. We applied this algorithm on reaching tasks for a mobile robot. Simulation results demonstrate that the technique can generate collision-free motion in real time.
Year
DOI
Venue
2015
10.5220/0005570204140421
ICINCO
Keywords
Field
DocType
Obstacle Avoidance, Velocity Obstacles, Trajectory Time-scaling, Local Replanning
Obstacle avoidance,Boundary value problem,Obstacle,Control theory,Cubic function,Robot,Smoothness,Mobile robot,Trajectory,Mathematics
Conference
Volume
Citations 
PageRank 
02
0
0.34
References 
Authors
5
2
Name
Order
Citations
PageRank
Ran Zhao1127.04
Daniel Sidobre2688.15