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Keyword: Velocity obstacles

Velocity obstacles for car-like mobile robots: Determination of colliding velocity and curvature pairs

by Emese Gincsainé Szádeczky-Kardoss and Zoltán Gyenes

Advances in Science, Technology and Engineering Systems Journal, Volume 3, Issue 1, Page # 225–233, 2018; DOI: 10.25046/aj030127

Abstract:

This paper addresses the motion planning problem of Reeds-Shepp-type car-like mobile robots moving among static and dynamic obstacles. If the positions and the velocity vectors of the obstacles are known or well estimated, the Velocity Obstacles (VO) method and its non-linear version (NLVO) can be used to plan a collision-free trajectory for a robot in…

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(This article belongs to the SP4 (Special issue on Advancement in Engineering Technology 2017-18) & Section Robotics (ROB))