Traffic Regulation Velocity Obstacles method

The goal of this paper is to show a new concept of the reactive motion planning algorithms for mobile robots in dynamic environment using the main rules of the Traffic Regulation. At the presented solution the algorithm uses the velocity vectors and positions of the obstacles and the robot so the Velocity Obstacles (VO) method seems to be a good choice as a basis for the motion planning. As an assumption the obstacles do not change their velocities during the sampling time. In that case the method can plan evasive maneuvers between the robot and the obstacles. In this work, a new motion planning method is introduced that plans the velocities and the path for the mobile robot using the basic Traffic Regulations. The solution method was extended with emergency vehicles that changes the use of the Traffic Regulations during the motion planning. This method provides an appropriate solution also if there are more obstacles in the workspace. The results of the motion of the obstacles and the robot were tested in simulations.