Study on optimal velocity selection using velocity obstacle (OVVO) in dynamic and crowded environment

The velocity obstacle (VO) method is one of local path generation method considering a velocity of obstacles. By dividing an available velocity region into collision and collision-free area, a robot can avoid collisions using the VO. However, if there are numerous obstacles near a robot, the robot w...

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Bibliographic Details
Published inAutonomous robots Vol. 40; no. 8; pp. 1459 - 1470
Main Authors Kim, Mingeuk, Oh, Jun-Ho
Format Journal Article
LanguageEnglish
Published New York Springer US 01.12.2016
Springer Nature B.V
Subjects
Artificial Intelligence
Barriers
Collision avoidance
Computer Imaging
Control
Cost function
Engineering
Mechatronics
Pattern Recognition and Graphics
Robotics
Robotics and Automation
Robots
Velocity
Vision
Velocity obstacle
Mobile robot
Pass-time
Dynamic obstacle
Optimization
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Summary:The velocity obstacle (VO) method is one of local path generation method considering a velocity of obstacles. By dividing an available velocity region into collision and collision-free area, a robot can avoid collisions using the VO. However, if there are numerous obstacles near a robot, the robot will have very few velocity candidates. In this paper, a method to choose an optimal velocity by introducing a cost function about safety of the velocity, and the cost function consists of a pass-time and a clearance. By latticizing available velocity map of a robot, each velocity can be evaluated from the cost function and a robot can select better velocity among collision-free velocity candidates. A performance of introduced method is compared to other VO method using simulation, and experiments are conducted to verify the results of simulation.
ISSN:0929-5593
1573-7527
DOI:10.1007/s10514-015-9520-6