Adaptive time horizon for on-line avoidance in dynamic environments

Abstract

This paper addresses the issue of motion planning in dynamic environments using Velocity Obstacles. Specifically, we propose an adaptive time horizon to truncate the velocity obstacle so that its boundary closely, yet conservatively, approximates the boundary of the set of states from which collision is unavoidable. We wish to develop a representation such… (More)
DOI: 10.1109/IROS.2011.6094643

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