Velocity-Change-Space-based dynamic motion planning for mobile robots navigation

This paper deals with the problem of dynamic motion planning in an unknown environment, where the workspace is cluttered with moving obstacles and robots. First, we give the principle of hybrid velocity obstacles, the definition of the preferred velocity and the collision-avoidance behavior. Second, we give new rules for the size regulation of obstacles and the kinematic and dynamic constraints of wheeled robot. Then, we establish a new Velocity Change Space (VCS) using the changes of the speed and direction of the [email protected]?s velocity as coordinate axis, and map the goal, velocity obstacles and dynamics constraints in this space. Finally, we explore the dynamic motion planning problem in the VCS. Mobile robot making motion planning in its velocity change window is achieved in multiple sensing-acting time steps, and directly gets the new velocity using point search and multi-objective optimization. We apply VCS-based motion planning methods to mobile robots, and simulation is used to illustrate the collision-free, interactive, un-conservative, foresighted and multi-objective optimized navigation of mobile robots.

[1]  Jean-Claude Latombe,et al.  Motion planning in the presence of moving obstacles , 1992 .

[2]  Dinesh Manocha,et al.  Interactive navigation of multiple agents in crowded environments , 2008, I3D '08.

[3]  Chen Zhi.  Mobile robot path planning based on improved artificial potential field method , 2011 .

[4]  Xiafu Peng,et al.  Dynamic collision avoidance of mobile robot based on velocity obstacles , 2011, Proceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering (TMEE).

[5]  A. Mohri,et al.  Online navigation of mobile robot under the existence of dynamically moving multiple obstacles , 2001, Proceedings of the 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001). Assembly and Disassembly in the Twenty-first Century. (Cat. No.01TH8560).

[6]  Mark H. Overmars,et al.  Roadmap-based motion planning in dynamic environments , 2005, IEEE Trans. Robotics.

[7]  Fethi Belkhouche,et al.  Reactive Path Planning in a Dynamic Environment , 2009, IEEE Transactions on Robotics.

[8]  Th Fraichard.  Trajectory Planning in Dynamic Workspaces: a `state-time Space' Approach Trajectory Planning in Dynamic Workspaces: a `state-time Space' Approach , 1997 .

[9]  P. Fiorini,et al.  Motion planning in dynamic environments using the relative velocity paradigm , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[10]  Yasuaki Abe,et al.  Collision avoidance method for multiple autonomous mobile agents by implicit cooperation , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[11]  Xingjian Jing.  Behavior dynamics based motion planning of mobile robots in uncertain dynamic environments , 2005, Robotics Auton. Syst..

[12]  Jinhui Zhou,et al.  A real-time path planning approach without the computation of Cspace obstacles , 2004, Robotica.

[13]  F. Large,et al.  Using non-linear velocity obstacles to plan motions in a dynamic environment , 2002, 7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002..

[14]  Dinesh Manocha,et al.  The Hybrid Reciprocal Velocity Obstacle , 2011, IEEE Transactions on Robotics.

[15]  Debasish Ghose,et al.  Collision Cones for Quadric Surfaces , 2011, IEEE Transactions on Robotics.

[16]  Yuechao Wang,et al.  Behavior dynamics of collision-avoidance in motion planning of mobile robots , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[17]  Debasish Ghose,et al.  Obstacle avoidance in a dynamic environment: a collision cone approach , 1998, IEEE Trans. Syst. Man Cybern. Part A.

[18]  Hani Hagras,et al.  A hierarchical type-2 fuzzy logic control architecture for autonomous mobile robots , 2004, IEEE Transactions on Fuzzy Systems.

[19]  Jun Ota,et al.  Multirobot motion coordination in space and time , 1998, Robotics Auton. Syst..

[20]  Han-Pang Huang,et al.  Robot Motion Planning in Dynamic Uncertain Environments , 2011, Adv. Robotics.

[21]  Shuzhi Sam Ge,et al.  Dynamic Motion Planning for Mobile Robots Using Potential Field Method , 2002, Auton. Robots.

[22]  Christian Laugier,et al.  High-speed autonomous navigation with motion prediction for unknown moving obstacles , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[23]  Steven M. LaValle,et al.  Motion Planning Part II: Wild Frontiers , 2011 .

[24]  Paolo Fiorini,et al.  Motion Planning in Dynamic Environments Using Velocity Obstacles , 1998, Int. J. Robotics Res..

[25]  Zvi Shiller,et al.  Motion planning in dynamic environments: obstacles moving along arbitrary trajectories , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[26]  Gianluca Antonelli,et al.  Experiments of Formation Control With Multirobot Systems Using the Null-Space-Based Behavioral Control , 2009, IEEE Transactions on Control Systems Technology.

[27]  Hadas Kress-Gazit,et al.  Robot Challenges: Toward Development of Verication and Synthesis Techniques [Errata] , 2011, IEEE Robotics Autom. Mag..

[28]  Marcelo Becker,et al.  Determining forbidden steering directions for a passenger car in urban environments based on the velocity obstacle approach and use of trackers , 2011, IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE.

[29]  Dinesh Manocha,et al.  Reciprocal collision avoidance with acceleration-velocity obstacles , 2011, 2011 IEEE International Conference on Robotics and Automation.

[30]  Zhang Qi,et al.  Studying on path planning and dynamic obstacle avoiding of soccer robot , 2000, Proceedings of the 3rd World Congress on Intelligent Control and Automation (Cat. No.00EX393).

[31]  Paolo Fiorini,et al.  Navigating a Robotic Wheelchair in a Railway Station during Rush Hour , 1999, Int. J. Robotics Res..

[32]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[33]  Dinesh Manocha,et al.  Reciprocal n-Body Collision Avoidance , 2011, ISRR.

[34]  Ivan Petrovic,et al.  Dynamic window based approach to mobile robot motion control in the presence of moving obstacles , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[35]  Richard T. Vaughan,et al.  BRaVO: Biased Reciprocal Velocity Obstacles Break Symmetry in Dense Robot Populations , 2012, 2012 Ninth Conference on Computer and Robot Vision.

[36]  S. Zucker,et al.  Toward Efficient Trajectory Planning: The Path-Velocity Decomposition , 1986 .

[37]  Jean-Claude Latombe,et al.  Randomized Kinodynamic Motion Planning with Moving Obstacles , 2002, Int. J. Robotics Res..

[38]  Enrique J. Bernabeu.  Fast Generation of Multiple Collision-Free and Linear Trajectories in Dynamic Environments , 2009, IEEE Transactions on Robotics.

[39]  Michael T. Wolf,et al.  Safe maritime navigation with COLREGS using velocity obstacles , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[40]  Dinesh Manocha,et al.  Independent navigation of multiple mobile robots with hybrid reciprocal velocity obstacles , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.