Speed Planning for a Maneuvering Motion

Authors:
Kao-Shing Hwang;Ming-Yi Ju
Affiliations:
Department of Electrical Engineering, National Chung Cheng University, 621 Chia-Yi, Taiwan/ e-mail: stuart@robot.ee.ccu.edu.tw;Department of Electrical Engineering, National Chung Cheng University, 621 Chia-Yi, Taiwan/ e-mail: stuart@robot.ee.ccu.edu.tw
Venue:
Journal of Intelligent and Robotic Systems
Year:
2002

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Abstract

Collision-free motion among moving objects is an on-going research topic. Based on the concept of a modified path-velocity decomposition and application of the interface propagation method, a strategy for trajectory planning is proposed in this paper. In the proposed method, the global navigation paths for robots are assumed to have already been planned without any static obstacle crossing their paths. Each subtask along the global path of each controlled object contains a desired goal position and desired arrival time for reaching the position. Based on the information about each subtask, Space/Time Graphs (STGs) for the robots are created. By shifting the speed path from corresponding forbidden regions on the STG, potential collisions can be avoided. Optimal speed paths with least velocity alterations for controllable objects are derived automatically by applying the interface propagation method in the STGs. The applicability of the proposed approach is demonstrated and the results show that controllable and uncontrollable moving objects can work together in a shared environment by avoiding collisions.