Title :
Fast generator of multiple collision-free trajectories in dynamic environments
Author :
Bernabeu, Enrique J.
Author_Institution :
Instituto Univ. de Autom. e Informatica Ind., Univ. Politecnica de Valencia
Abstract :
This paper presents a fast technique for obtaining a set of collision-free trajectories for a mobile robot under a continuous time approach. Given a mobile-robot path, a set of speeds for the mobile robot is generated with the constraint of avoiding collision with the moving obstacles in sight. Afterwards, this set of speeds is easily updated, when a change in the original mobile-robot path is applied. Collision-free trajectories that do not verify the dynamic constraints of the mobile robot are simply rejected
Keywords :
collision avoidance; continuous time systems; mobile robots; continuous time approach; dynamic environments; mobile-robot path; multiple collision-free trajectories; Automated highways; Computational efficiency; Humans; Mobile robots; Motion planning; Motion-planning; Path planning; Robotics and automation; Service robots; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642055
