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Trajectory regeneration considering velocity of dynamic obstacles using the nonlinear velocity obstacles

Authors
Moon, C.-B.Chung, W.
Issue Date
2014
Publisher
Korean Society of Mechanical Engineers
Keywords
Mobile robot; Navigation; Obstacle avoidance; Trajectory regeneration
Citation
Transactions of the Korean Society of Mechanical Engineers, A, v.38, no.11, pp.1193 - 1199
Indexed
SCOPUS
KCI
Journal Title
Transactions of the Korean Society of Mechanical Engineers, A
Volume
38
Number
11
Start Page
1193
End Page
1199
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/100786
DOI
10.3795/KSME-A.2014.38.11.1193
ISSN
1226-4873
Abstract
To achieve safe and high-speed navigation of a mobile service robot, velocity of dynamic obstacles should be considered while planning the trajectory of a mobile robot. Trajectory planning schemes without considering the velocity of the dynamic obstacles may collide due to the relative velocities or dynamic constraints. However, the general planning schemes that considers the dynamic obstacle velocities requires long computational times. This paper proposes a velocity control scheme by scaling the time step of trajectory to deal with dynamic obstacle avoidance problem using the RNLVO (Robot Nonlinear Velocity Obstacles). The RNLVO computes the collision conditions on the basis of the NLVO (Nonlinear Velocity Obstacles). The simulation results show that the proposed scheme can deal with collision state in a short period time. Furthermore, the RNLVO computes the collisions using the trajectory of the robot. As a result, accurate prediction of the moving obstacles trajectory does not required. © 2014 The Korean Society of Mechanical Engineers.
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