Reactive optimal motion planning to anywhere in the presence of moving obstacles

Abstract

In this paper, a novel optimal motion planning framework that enables navigating optimally from any initial, to any final position within confined workspaces with convex, moving obstacles is presented. Our method outputs a smooth velocity vector field, which is then employed as a reference controller in order to sub-optimally avoid moving obstacles. The proposed approach leverages and extends desirable properties of reactive methods in order to provide a provably convergent and safe solution. Our algorithm is evaluated with both static and moving obstacles in synthetic environments and is compared against a variety of existing methods. The efficacy and applicability of the proposed scheme is finally validated in a high-fidelity simulation environment.

Decentralized Navigation with Optimality for Multiple Holonomic Agents in Simply Connected Workspaces

“…The complexity is rendered linear with respect to the number of the agents and, if combined with the recent work [39], may be fixed.…”