Motion planning for mobile robots using the Safety Acceleration Velocity Obstacle method

In this paper, we introduce a novel motion planning algorithm, the Safety Acceleration Velocity Obstacle (SAVO) method that can result in a collision-free motion for the mobile agent in a dynamic environment considering safety and speed at the same time. The introduced method can be used for omnidirectional mobile agents, and additionally for carlike and differential-driven mobile robots after introducing the exact linearization, taking into account the flatness. Our study compares the results of the SAVO method for the different types of mobile agents and presents simulation results to demonstrate its effectiveness.