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Motion Planning in Dynamic Environments Using Velocity Obstacles
This paper presents a method for robot motion planning in dynamic environments. It consists of selecting avoidance maneuvers to avoid static and moving obstacles in the velocity space, based on the…
Computation of Path Constrained Time Optimal Motions With Dynamic Singularities
Motion planning in dynamic environments using the relative velocity paradigm
A simple and efficient approach to the computation of avoidance maneuvers among moving obstacles is presented, and the method is applied to an example of a 3-D avoidance maneuver.
Time-energy optimal control of articulated systems with geometric path constraints
- Z. Shiller
- PhysicsProceedings of the IEEE International Conference…
- 8 May 1994
A method is presented for optimizing the motions of articulated systems along specified paths, minimizing a time-energy cost function, and the optimal control obtained is smooth, as opposed to the typically discontinuous time optimal control.
Dynamic motion planning of autonomous vehicles
A method for planning the motions of autonomous vehicles moving on general terrains is presented that obtains the geometric path and vehicle speeds that minimize motion time considering vehicle…
Motion planning in dynamic environments: obstacles moving along arbitrary trajectories
- Z. Shiller, F. Large, S. Sekhavat
- MathematicsProceedings ICRA. IEEE International Conference…
- 21 May 2001
The nonlinear velocity obstacle is introduced, which takes into account the shape, velocity and path curvature of the moving obstacle, which elevates the planning strategy to a second order method, compared to the first order avoidance using the linear v-obstacle.
Emergency Lane-Change Maneuvers of Autonomous Vehicles
This paper addresses the issue of collision avoidance using lane-change maneuvers. Of particular interest is to determine the minimum distance beyond which an obstacle cannot be avoided at a given…
Navigation Among Moving Obstacles Using the NLVO: Principles and Applications to Intelligent Vehicles
This paper presents a real-time motion planning approach, based on the concept of the Non-LinearVobst (NLVO), and presents the iterative planner, which is applied to vehicle navigation and demonstrated in a complex traffic scenario.
On computing the global time-optimal motions of robotic manipulators in the presence of obstacles
A method for computing the time-optimal motions of robotic manipulators is presented that considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles and is demonstrated in several examples for two- and six-degree-of-freedom manipulators with obstacles.
On singular time-optimal control along specified paths
- Z. Shiller
- MathematicsIEEE Trans. Robotics Autom.
- 1 August 1994
It is proven that singular control cannot exist if the set of admissible controls is strictly convex, as is demonstrated for a two-link planar manipulator with elliptical actuator constraints.