Toward efficient trajectory planning: the path-velocity decomposition
International Journal of Robotics Research
Journal of the ACM (JACM)
Experiences with an interactive museum tour-guide robot
Artificial Intelligence - Special issue on applications of artificial intelligence
Computational geometry.
The DARPA Urban Challenge: Autonomous Vehicles in City Traffic
The DARPA Urban Challenge: Autonomous Vehicles in City Traffic
The Hybrid Reciprocal Velocity Obstacle
IEEE Transactions on Robotics
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This paper considers the problem of fast autonomous mobile robot navigation between obstacles while attempting to maximize velocity subject to safe braking constraints. The paper introduces position-velocity configuration space. Within this space, keeping a uniform braking distance from the obstacles can be modeled as forbidden regions called vc-obstacles. Using Morse Theory, the paper characterizes the critical position-velocity points where two vc-obstacles meet and locally disconnect the free position-velocity space. These points correspond to critical events where the robot's velocity becomes too large to support safe passage between neighboring obstacles. The velocity dependent critical points induce a cellular decomposition of the free position-velocity space into cells. Each cell is associated with a particular range of velocities that can be safely followed by the robot. The vc-method searches the cells' adjacency graph for a maximum velocity path. The method outputs a pseudo time optimal path which maintains safe braking distance from the obstacles throughout the robot motion. Simulations and experiments demonstrate the method and highlight the usefulness of taking the path's velocity into account during the path planning process.