Speed Planning for a Maneuvering Motion

Collision-free motion among dynamic moving objects is an on-going research topic. Based on the concept of modified path-velocity decomposition, a strategy, the interface propagation method, is proposed for path planning in this paper. Since all global navigation paths are assumed to be planned already without any static obstacle in their paths. Each sub-task along the global path of each controlled object contains a desired goal position and desired arrival time for reaching the position. Based on the information about each sub-task, the space/time graphs (STGs) for the objects are created. By shifting the speed path from corresponding forbidden regions on the STG, potential collisions can be avoided. An optimal speed path with least speed alteration for the controllable object is derived by the method of interface propagation. The applicability of the proposed approach is demonstrated and the results show that a controllable and multiple uncontrollable objects can work together in a shared environment by avoiding collisions.