Motion Planning in Dynamic Environments Using Velocity Obstacles

@article{Fiorini1994MotionPI,
  title={Motion Planning in Dynamic Environments Using Velocity Obstacles},
  author={Paolo Fiorini and Zvi Shiller},
  journal={The International Journal of Robotics Research},
  year={1994},
  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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1,677 Citations
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756
Methods Citations
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1,677 Citations

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Efficient and safe on-line motion planning in dynamic environments

A new on-line planner for dynamic environments that is based on the concept of Velocity Obstacles, which addresses the issue of motion safety, i.e. avoiding states of inevitable collision, by selecting a proper time horizon for the velocity obstacle.

Velocity-Change-Space-based dynamic motion planning for mobile robots navigation

Safe Navigation in Dynamic Environments

The issue of motion safety for on-line navigation in dynamic environments is addressed, using velocity obstacles to represent the dynamic environment, to truncate the velocity obstacle by the minimum time horizon, computed to ensure that the velocity obstacles is truncated close to the boundary of the set of inevitable collision states.

Motion planning for mobile robots using the safety velocity obstacles method

A motion planning algorithm that can ensure the avoidance of static and moving obstacles in the workspace of the robot by using the Velocity Obstacles method, suitable for motion planning of mobile robots in a dynamic environment is developed and implemented.

Robot navigation balancing safety and time to goal in dynamic environments

This work addresses a technique for robot motion planning and navigation in dynamic environments that allows to plan and execute safe motions according to the further evolution of the moving objects in the robot field of view.

Motion planning in dynamic environments: obstacles moving along arbitrary trajectories

  • Z. ShillerF. LargeS. Sekhavat
  • Mathematics
    Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
  • 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.

Development of an optimal velocity selection method with velocity obstacle

The Velocity obstacle (VO) method is one of the most well-known methods for local path planning, allowing consideration of dynamic obstacles and unexpected obstacles. Typical VO methods separate a…

Development of an optimal velocity selection method with velocity obstacle

A method for choosing optimal velocity components using the concept of pass-time and vertical clearance is proposed for the efficient movement of a robot.

Path Planning in Dynamic Environments

The paper presents a modified version of the Evolutionary Planner/Navigator algorithm, θEP/N++, to address a particular instance of a navigation problem, namely, a problem of computing a near-optimum trajectory of a ship.
...

42 References

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This paper presents a method for computing the motions of a robot in dynamic environments, subject to the robot dynamics and its actuator constraints. This method is based on the concept of Velocity…

Robot motion planning among moving obstacles

This thesis presents a new approach for planning a robot's trajectory that avoids static and moving obstacles and minimizes motion time, subject to robot dynamics and actuator constraints. This…

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The concept of adjacent paths is introduced, and used within a novel motion planning schema which operates in two complementary stages, paths- Planning and trajectory-planning, for dynamic trajectory planning of a car-like robot, A.

Motion planning in dynamic environments using the relative velocity paradigm

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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.

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The concept of accessibility from a point to a moving object is introduced, and it is used to define a graph on a set of moving obstacles that shows if the moving point is able to move faster than any of the obstacles, a time-minimal path is given as a sequence of edges in the graph.

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Evidence that the 3-D dynamic movement problem is intractable even if B has only a constant number of degrees of freedom of movement is provided, and evidence that the problem is PSPACE-hard if B is given a velocity modulus bound on its movements.

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A method of determining whether or not there is a translational collision-free motion for a polygonal robot from an initial position to a final position and of planning such a motion, if it exists, is presented.

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