Trajectory Planning in Dynamic Workspaces: a `state-time Space' Approach Trajectory Planning in Dynamic Workspaces: a `state-time Space' Approach

| This paper addresses trajectory planning in dynamic workspaces, i.e. trajectory planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like the concept of connguration space which is a tool to formulate path planning problems, state-time space is a tool to formulate trajectory planning in dynamic workspaces problems. It permits to study the diierent aspects of dynamic trajectory planning, i.e. moving obstacles and dynamic constraints, in a uniied way. Then this new concept is applied to the case of a car-like robot subject to dynamic constraints and moving along a given path on a dynamic planar workspace. A near-time-optimal approach that searches the solution trajectory over a restricted set of canonical tra-jectories is presented. These canonical trajectories are deened as having discrete and piecewise constant acceleration. Under these assumptions, it is possible to transform the problem of nding the time-optimal canonical trajectory to nding the shortest path in a directed graph embedded in the state-time space. Abstract | This paper addresses trajectory planning in dynamic workspaces, i.e. trajectory planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like the concept of connguration space which is a tool to formulate path planning problems, state-time space is a tool to formulate trajectory planning in dynamic workspaces problems. It permits to study the diierent aspects of dynamic trajectory planning, i.e. moving obstacles and dynamic constraints, in a uniied way. Then this new concept is applied to the case of a car-like robot subject to dynamic constraints and moving along a given path on a dynamic planar workspace. A near-time-optimal approach that searches the solution trajectory over a restricted set of canonical trajectories is presented. These canonical trajectories are deened as having discrete and piecewise constant acceleration. Under these assumptions, it is possible to transform the problem of nding the time-optimal canonical trajectory to nding the shortest path in a directed graph embedded in the state-time space.