Centralized Path Planning for Multi-aircraft in the Presence of Static and Moving Obstacles

Visibility Graph For Path Planning In The Presence Of Moving Obstacles

Path planning and navigation are two important areas in the control of autonomous mobile robots. In both cases, the resolution of the problem is to move the mobile robot while taking into account internal and external constraints. In this paper, we present an approach that operates in three steps. First, a construction of the visibility tree is performed. The following treatments are not perfor...

Motion Planning in the Presence of Moving Obstacles

This paper investigates the computational complexity of planning the motion of a body B in 2{D or 3{D space, so as to avoid collision with moving obstacles of known, easily computed, trajectories. Dynamic movement problems are of fundamental importance to robotics, but their computational complexity has not previously been investigated. We provide evidence that the 3-D dynamic movement problem ...

Planning the Shortest Safe Path Amidst Unpredictably Moving Obstacles

In this paper we discuss the problem of planning safe paths amidst unpredictably moving obstacles in the plane. Given the initial positions and the maximal velocities of the moving obstacles, the regions that are possibly not collision-free are modeled by discs that grow over time. We present an approach to compute the shortest path between two points in the plane that avoids these growing disc...

Mobile Robot Motion Planning Considering Path Ambiguity of Moving Obstacles

This paper describes a motion planning method for mobile robot which considers the path ambiguity of moving obstacles. Each moving obstacle has a set of paths and their probabilities. The robot selects the motion which minimizes the expected time to reach its destination, by recursively predicting future states of each obstacle and then selecting the best motion for them. To calculate the motio...

Velocity Planning for a Robot Moving along the Shortest Straight Line Path Among Moving Obstacles

A Maneuvering-Board Approach to Path Planning with Moving Obstacles

In this paper we describe a new approach to the problem of path planning with moving obstacles. Our approach is based on the maneuvering board method commonly used for nautical navigation. We have extended this method to handle cases where obstacles may maneuver at any time and where knowledge of the position and velocity of the obstacles may be uncertain.