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This paper focuses on real-time global motion planning in a dynamic environment. Most of the existing approaches suffer from heavy computation and cannot satisfy real-time constraints. In this paper we present a novel approach, based on the Non-Linear Velocity Obstacle Concept, that maps the positions of the obstacles and their known or estimated trajectories directly in the space of the velocities admissible by our robot, taking into account its kinematic and dynamics constraints. The result is a map of all the collision free velocities. We present a few improvements to this approach and introduce the notion of risk to perform local goal-oriented obstacle-avoidance. Combining it with graph-expansion techniques, we propose to extend the system to an incremental global motion planner in a dynamic environment.