Trajectory planning in a dynamic workspace: a 'state-time space' approach

This paper addresses trajectory planning in a dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First the novel concept of state-time space is introduced, i.e. the state space of the robot augmented of the time dimension. Like configuration space which is a tool to formulate path-planning problems, state-time space is a tool to formulate trajectory planning in dynamic workspace problems. It permits us to study the different aspects of dynamic trajectory planning, i.e. moving obstacles and dynamic constraints, in a unified way. Then this new concept is applied to the case of a car-like robot subject to dynamic constraints and moving along a given path on a dynamic planar workspace. A near-time-optimal approach that searches the solution trajectory over a restricted set of canonical trajectories is presented. These canonical trajectories are defined as having discrete and piecewise constant acceleration. Under these assumption...

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