By Topic

Motion planning in dynamic environments using the velocity space

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
E. Owen ; Escuela de Ingenieria Electrica y Electronica, Univ. del Valle, Cali, Spain ; L. Montano

This paper addresses a method for robot motion planning in dynamic environments, avoiding the moving and static obstacles while the robot drives towards the goal. The method maps the dynamic environment into a velocity space, using the concept of estimated arriving time to compute the times to potential collision and potential escape. The problem of finding the best motion command is directly treated in the velocity space, providing the trajectory which satisfies an optimization criterium (typically the minimum time or the shortest path). In this work the method is applied to robots which are subject to both kinematic constraints (i.e. involving the configuration parameters of the robot and their derivatives), and dynamic constraints, (i.e. the constraints imposed by the dynamics of the robot and the limits of its actuators). Some experimental results are discussed.

Published in:

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

2-6 Aug. 2005