Motion Planning in Dynamic Environments Using Velocity Obstacles

@article{Fiorini1998MotionPI,
  title={Motion Planning in Dynamic Environments Using Velocity Obstacles},
  author={Paolo Fiorini and Zvi Shiller},
  journal={The International Journal of Robotics Research},
  year={1998},
  volume={17},
  pages={760 - 772}
}
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 cur rent positions and velocities of the robot and obstacles. It is a first- order method, since it does not integrate velocities to yield positions as functions of time. The avoidance maneuvers are generated by selecting robot ve locities outside of the velocity obstacles, which represent the set of… 
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