Towards real-time global motion planning in a dynamic environment using the NLVO concept

Large, F.; Sekhavat, S.; Shiller, Zvi; Laugier, C.

doi:10.1109/irds.2002.1041458

Cited by 44 publications

(31 citation statements)

References 10 publications

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“…Such behavior requires an estimation of the moving obstacle's velocity, and not just its position. Work along these lines has been done by Shiller and others [21], [22]. Fraichard and others [23], [24] have used obstacle velocity information to define "inevitable collision states" which must be avoided by the robot.…”

Section: Discussionmentioning

confidence: 99%

Real-Time Robot Path Planning via a Distance-Propagating Dynamic System with Obstacle Clearance

Willms

Yang

2008

IEEE Trans. Syst., Man, Cybern. B

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Abstract-An efficient grid-based distance-propagating dynamic system is proposed for real-time robot path planning in dynamic environments which incorporates safety margins around obstacles using local penalty functions. The path through which the robot travels minimizes the sum of the current known distance to a target and the cumulative local penalty functions along the path. The algorithm is similar to D * but does not maintain a sorted queue of points to update. The resulting gain in computational speed is offset by the need to update all points in turn. Consequently, in situations where many obstacles and targets are moving at substantial distances from the current robot location, this algorithm is more efficient than D * . The properties of the algorithm are demonstrated through a number of simulations. A sufficient condition for capture of a target is provided.

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Section: Discussionmentioning

confidence: 99%

Real-Time Robot Path Planning via a Distance-Propagating Dynamic System with Obstacle Clearance

Willms

Yang

2008

IEEE Trans. Syst., Man, Cybern. B

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“…Some approaches make use of randomized planning techniques, e.g. [1,2], other approaches use reactive schemes, for instance [3][4][5], and/or make use of a navigation function to follow a path like [6] or plan directly in the velocity space like [7][8][9][10]. Yet other approaches employ a search, some in physical space, some in configuration space.…”

Section: Related Workmentioning

confidence: 99%

Robust Collision Avoidance in Unknown Domestic Environments

Jacobs

Ferrein

Schiffer

et al. 2010

RoboCup 2009: Robot Soccer World Cup XIII

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Abstract. Service robots operating in domestic indoor environments must be endowed with a safe collision avoidance and navigation method that is reactive enough to avoid contacts with the furniture of the apartment and humans that suddenly appear in front of the robot. Moreover, the method should be local, i.e. should not need a predefined map of the environment. In this paper we describe a navigation and collision avoidance method which is all of that: safe, fast, and local. Based on a geometric grid representation which is derived from the laser range finder of our domestic robot, a path to the next target point is found by employing A * . The obstacles which are used in the local map of the robot are extended depending on the speed the robot travels at. We compute a triangular area in front of the robot which is guaranteed to be free of obstacles. This triangle serves as the space of feasible solutions when searching for the next drive commands. With this triangle, we are able to decouple the path search from the search for drive commands, which tremendously decreases the complexity. We used the proposed method for several years in RoboCup@Home where it was a key factor to our success in the competitions.

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“…The Velocity Obstacle (VO) approach proposed in [29], on the other hand, determines potential collisions and computes collision-free paths for robots moving in dynamic environments. The VO method was extended in [30] to include objects moving along non-linear trajectories.…”

Section: Faraz Kunwar and Beno Benhabib Advanced Predictive Guidancementioning

confidence: 99%

“…Majority of existing dynamic obstacle-avoidance algorithms (e.g., [25]- [30]) attempt to avoid all obstacles which are in the vicinity of the vehicle by evaluating a time-based or distance-based criterion. This may lead to a significant increase in computational complexity in evaluating obstacles which are not on a direct collision course with the vehicle.…”

Section: Generating the Rendezvous Commandmentioning

confidence: 99%

Advanced Predictive Guidance Navigation for Mobile Robots: A Novel Strategy for Rendezvous in Dynamic Settings

Kunwar

Benhabib

2008

International Journal on Smart Sensing and Intelligent Systems

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Abstract-This paper presents a novel on-line trajectory planning method for the autonomous robotic interception of moving targets in the presence of dynamic obstacles, i.e., position and velocity matching (also referred to as rendezvous). The novelty of the proposed time-optimal interception method is that it directly considers the dynamics of the obstacles as well as the target in its interception maneuver: the velocities and accelerations of the obstacles and the target are predicted in real-time for potential collisions. The method is designed to deal with highlymaneuvering obstacles and targets. The interception maneuver is computed using an Advanced Predictive Guidance Law.Extensive simulation and experimental analyses, some of which are reported in this paper, have clearly demonstrated the time efficiency of the proposed rendezvous method.

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Towards real-time global motion planning in a dynamic environment using the NLVO concept

Cited by 44 publications

References 10 publications

Real-Time Robot Path Planning via a Distance-Propagating Dynamic System with Obstacle Clearance

Real-Time Robot Path Planning via a Distance-Propagating Dynamic System with Obstacle Clearance

Robust Collision Avoidance in Unknown Domestic Environments

Advanced Predictive Guidance Navigation for Mobile Robots: A Novel Strategy for Rendezvous in Dynamic Settings

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