Reactive path planning in a dynamic environment

Authors:
Fethi Belkhouche
Affiliations:
Systems Engineering Program, Texas A&M International University, Laredo, TX
Venue:
IEEE Transactions on Robotics
Year:
2009

Citing 12
Cited 3

Toward efficient trajectory planning: the path-velocity decomposition

International Journal of Robotics Research
Dynamic Motion Planning for Mobile Robots Using Potential Field Method

Autonomous Robots
Contribution to the study of dynamics and dynamic control of robots interacting with dynamic environment

Robotica
Reactive navigation of multiple moving agents by collaborative resolution of conflicts

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Path Manifold-based Kinematic Control of Wheeled Mobile Robots Considering Physical Constraints

International Journal of Robotics Research
Kinematics-based characterization of the collision course

International Journal of Robotics and Automation
Roadmap-based motion planning in dynamic environments

IEEE Transactions on Robotics
A traffic priority language for collision-free navigation of autonomous mobile robots in dynamic environments

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Reactive navigation in dynamic environment using a multisensorpredictor

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Modeling and controlling a robotic convoy using guidance laws strategies

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Obstacle avoidance in a dynamic environment: a collision cone approach

IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Mobile robot navigation in 2-D dynamic environments using an electrostatic potential field

IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans

Optimal motion planning by reinforcement learning in autonomous mobile vehicles

Robotica
Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

Artificial Life and Robotics
Generalization of the collision cone approach for motion safety in 3-D environments

Autonomous Robots

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Abstract

This paper deals with the problem of path planning in a dynamic environment, where the workspace is cluttered with unpredictably moving objects. The concept of the virtual plane is introduced and used to create reactive kinematic-based navigation laws. A virtual plane is an invertible transformation equivalent to the workspace, which is constructed by using a local observer. This results in important simplifications of the collision detection process. Based on the virtual plane, it is possible to determine the intervals of the linear velocity and the paths that lead to collisions with moving obstacles and then derive a dynamic window for the velocity and the orientation to navigate the robot safely. The speed of the robot and the orientation angle are controlled independently using simple collision cones and collision windows constructed from the virtual plane. The robot's path is controlled using kinematic-based navigation laws that depend on navigation parameters. These parameters are tuned in real time to adjust the path of the robot. Simulation is used to illustrate collision detection and path planning.