Generalized velocity obstacles

We address the problem of real-time navigation in dynamic environments for car-like robots. We present an approach to identify controls that will lead to a collision with a moving obstacle at some point in the future. Our approach generalizes the concept of velocity obstacles, which have been used for navigation among dynamic obstacles, and takes into account the constraints of a car-like robot. We use this formulation to find controls that will allow collision free navigation in dynamic environments. Finally, we demonstrate the performance of our algorithm on a simulated car-like robot among moving obstacles.

Authors

• David Wilkie
• Jur van den Berg
• Dinesh Manocha

Keywords

• Fingers
• Grasping
• Shape control
• Control systems
• Tactile sensors
• Information science
• Intelligent robots
• USA Councils
• Stability analysis
• Numerical simulation
• Velocity Obstacle
• Dynamic Environment
• Point In The Future
• Navigation In Environments
• Dynamic Obstacles
• Navigation Problem
• Original Form
• Kinematic Constraints
• Robots In Environments
• Set Of Velocities
• Feasible Control
• Collision-free Path
• Planning Of Robots
• Obstacle Position
• Rapidly-exploring Random Tree