International Journal of Robotics Research
Distance estimation and collision prediction for on-line robotic motion planning
Automatica (Journal of IFAC)
Motion planning in the presence of moving obstacles
Journal of the ACM (JACM)
Efficient collision prediction among many moving objects
International Journal of Robotics Research
V-Clip: fast and robust polyhedral collision detection
ACM Transactions on Graphics (TOG)
Fast and simple 2D geometric proximity queries using graphics hardware
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
Detection, Tracking and Avoidance of Multiple Dynamic Objects
Journal of Intelligent and Robotic Systems
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
Reactive path planning in a dynamic environment
IEEE Transactions on Robotics
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The problem of collision course between a mobile robot and a moving object is modeled in polar coordinates using the kinematics equations. A model of the relative motion of the moving object as seen by the robot is then derived. This model consists of the relative velocities along and across the visibility line, and gives the range rate and the turning rate of the moving object with respect to the robot. The conditions for the collision course are derived in terms of the robot's and the moving object's states. We define two types of collision course: the exact collision course and the weak collision course. The exact collision course always results in a collision, and is clearly characterized by a given set of equations. The weak collision course may become an exact collision course near collision and allows an early detection of the collision course in various scenarios. Several examples and scenarios illustrating the theory are shown using simulation.