Mapping Obstacles to Collision States for On-line Motion Planning in Dynamic Environments
نویسندگان
چکیده
This paper presents a representation of static and moving obstacles, using Velocity Obstacles (VO), for on-line planning in dynamic environments. Each obstacle is mapped to forbidden states by selecting a proper time horizon for the velocity obstacle. The proper choice of the time horizon ensures that the boundary of the mapped obstacle overlaps with the boundary of the set of inevitable collision states (ICS). This time horizon is determined by the minimum time it would take the robot to avoid collision, either by stopping or by passing the respective obstacle. This representation allows safe on-line planning using only one step look ahead. The on-line trajectories favorably compare with the trajectories obtained by a global planner.
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