On the influence of sensor capacities and environment dynamics onto collision-free motion plans
- 25 June 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2395-2400 vol.3
- https://doi.org/10.1109/irds.2002.1041626
Abstract
A methodology for computing the maximum velocity profile for a planned trajectory of the robot is described in this paper. The profile is computed considering the robot and environment dynamics as well as the constraints of the sensing apparatus. The mobile objects can be arbitrary in number and their direction and velocity of motion is not known. The only known information about the moving objects is the maximum velocity they can possess. The robot that moves with the computed velocity profile can assure from its side that it would not collide onto any of the numerous moving objects that could intercept its future trajectory. The methodology has been incorporated onto a motion planner for a nonholonomous robot and the results presented. The motivation here is to facilitate the process of having safe and understanding robots. Hence the planned velocity profiles are in general conservative though the robot could perhaps do better on-line. However at planning time the robot's immobility before collision is guaranteed.Keywords
This publication has 10 references indexed in Scilit:
- Accounting for mobile robot dynamics in sensor-based motion planning: experimental resultsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Finding an unpredictable target in a workspace with obstaclesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Indoor navigation with uncertainty using sensor-based motionsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A numerical technique for planning motion strategies of a mobile robot in presence of uncertaintyPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Motion planning in dynamic environments: obstacles moving along arbitrary trajectoriesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Motion Planning in Dynamic Environments Using Velocity ObstaclesThe International Journal of Robotics Research, 1998
- Motion planning with uncertainty: a landmark approachArtificial Intelligence, 1995
- Robot Motion PlanningPublished by Springer Nature ,1991
- Optimal paths for a car that goes both forwards and backwardsPacific Journal of Mathematics, 1990
- Worst-case optimal algorithms for constructing visibility polygons with holesPublished by Association for Computing Machinery (ACM) ,1986