On-line Planning for Collision Avoidance on the Nominal Path

  • Authors:

  • A. Tsoularis;C. Kambhampati

  • Affiliations:

  • Department of Cybernetics, University of Reading, Whiteknights, Reading, RG6 2AY, U.K./ e-mail: shskambh@reading.ac.uk;Department of Cybernetics, University of Reading, Whiteknights, Reading, RG6 2AY, U.K./ e-mail: shskambh@reading.ac.uk

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 1998

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Abstract

In this paper a solution to the obstacle avoidance problem for a mobilerobot moving in the two-dimensional Cartesian plane is presented. The robotis modelled as a linear time-invariant dynamic system of finite sizeenclosed by a circle and the obstacles are modelled as circles travellingalong rectilinear trajectories. This work deals with the avoidance problemwhen the obstacles move in known trajectories. The robot starts its journeyon a nominal straight line path with a nominal velocity. When an obstacle isdetected to be on a collision course with the robot, the robot must devise aplan to avoid the obstacle whilst minimising a cost index defined as thetotal sum squared of the magnitudes of the deviations of its velocity fromthe nominal velocity. The planning strategy adopted here is adjustment ofthe robot’s velocity on the nominal path based on the time ofcollision between the robot and a moving obstacle, and determination of adesired final state such that its Euclidean distance from the nominal finalstate is minimal. Obstacle avoidance by deviation from the nominal path indeterministic and random environments is based on the work presented hereand is investigated in another paper.