Generalized velocity obstacles

We address the problem of real-time navigation in dynamic environments for car-like robots. We present an approach to identify controls that will lead to a collision with a moving obstacle at some point in the future. Our approach generalizes the concept of velocity obstacles, which have been used f...

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 5573 - 5578
Main Authors Wilkie, D., van den Berg, J., Manocha, D.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Control systems
Fingers
Grasping
Information science
Intelligent robots
Numerical simulation
Shape control
Stability analysis
Tactile sensors
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Summary:We address the problem of real-time navigation in dynamic environments for car-like robots. We present an approach to identify controls that will lead to a collision with a moving obstacle at some point in the future. Our approach generalizes the concept of velocity obstacles, which have been used for navigation among dynamic obstacles, and takes into account the constraints of a car-like robot. We use this formulation to find controls that will allow collision free navigation in dynamic environments. Finally, we demonstrate the performance of our algorithm on a simulated car-like robot among moving obstacles.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5354175