Generalized velocity obstacles

Authors:
David Wilkie;Jur van den Berg;Dinesh Manocha
Affiliations:
Department of Computer Science, College of Arts and Sciences, University of North Carolina, Chapel Hill, NC;Department of Computer Science, College of Arts and Sciences, University of North Carolina, Chapel Hill, NC;Department of Computer Science, College of Arts and Sciences, University of North Carolina, Chapel Hill, NC
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 5
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Abstract

We address the problem of real-time navigation in dynamic environments for car-like robots. We present an approach to identify controls that will lead to a collision with a moving obstacle at some point in the future. Our approach generalizes the concept of velocity obstacles, which have been used for navigation among dynamic obstacles, and takes into account the constraints of a car-like robot. We use this formulation to find controls that will allow collision free navigation in dynamic environments. Finally, we demonstrate the performance of our algorithm on a simulated car-like robot among moving obstacles.