Generalized velocity obstacles

• Published in: 2009 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
• Language: English
• Published: IEEE 01.10.2009
• Subjects: Control systems; Fingers; Grasping; Information science; Intelligent robots; Numerical simulation; Shape control; Stability analysis; Tactile sensors; USA Councils

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...