Fast Generation of Multiple Collision-Free and Linear Trajectories in Dynamic Environments

A fast and complete collision-detection procedure is presented in this paper. Given a straight-line path for a mobile robot, the current instant of time, and estimations of the obstacles motions, a set of speeds is obtained in real time with neither space nor time discretization. The mobile-robot path together with each one of these speeds, if they exist, states a different collision-free trajectory. All these trajectories verify that the minimum distance between the mobile robot and the obstacles at anytime is greater than or equal to a configurable parameter. This set of speeds is fast updated when a change in the original mobile-robot path is considered. If the current mobile-robot speed does not belong to the mentioned set of speeds, then the mobile robot will collide with at least one obstacle and, in this case, a set of accelerations is fast-tuned to avoid all the obstacles. Collision-free trajectories that do not verify the dynamic constraints of the mobile robot are simply rejected.

[1]  William Whittaker,et al.  Autonomous driving in urban environments: Boss and the Urban Challenge , 2008, J. Field Robotics.

[2]  K. Yokoi,et al.  Mobility of Humanoid Robots: Stepping over Large Obstacles Dynamically , 2006, 2006 International Conference on Mechatronics and Automation.

[3]  Stephen Cameron,et al.  Collision detection by four-dimensional intersection testing , 1990, IEEE Trans. Robotics Autom..

[4]  Shuuji Kajita,et al.  Constraint-based dynamics simulator for humanoid robots with shock absorbing mechanisms , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  Abderrahmane Kheddar,et al.  Fast Continuous Collision Detection between Rigid Bodies , 2002, Comput. Graph. Forum.

[6]  Gershon Elber,et al.  Efficient continuous collision detection for bounding boxes under rational motion , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[7]  Masayoshi Tomizuka,et al.  Collision prediction and avoidance amidst moving objects for trajectory planning applications , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[8]  Josep Tornero,et al.  Hough transform for distance computation and collision avoidance , 2002, IEEE Trans. Robotics Autom..

[9]  S. Kolski,et al.  Detection, prediction, and avoidance of dynamic obstacles in urban environments , 2008, 2008 IEEE Intelligent Vehicles Symposium.

[10]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[11]  William Whittaker,et al.  Autonomous driving in urban environments: Boss and the Urban Challenge , 2008 .

[12]  Olivier Stasse,et al.  Dynamically Stepping Over Obstacles by the Humanoid Robot HRP-2 , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[13]  M. Levas.  OBBTree : A Hierarchical Structure for Rapid Interference Detection , .

[14]  Josep Tornero,et al.  Efficient distance calculation using the spherically-extended polytope (S-tope) model , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[15]  Oliver G. Staadt,et al.  Velocity-Aligned Discrete Oriented Polytopes for Dynamic Collision Detection , 2008, IEEE Transactions on Visualization and Computer Graphics.

[16]  Sean Quinlan,et al.  Efficient distance computation between non-convex objects , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[17]  Dinesh Manocha,et al.  Collision and Proximity Queries , 2004, Handbook of Discrete and Computational Geometry, 2nd Ed..

[18]  Enrique J. Bernabeu.  Fast generator of multiple collision-free trajectories in dynamic environments , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[19]  Gino van den Bergen.  A Fast and Robust GJK Implementation for Collision Detection of Convex Objects , 1999, J. Graphics, GPU, & Game Tools.

[20]  J. Latombe,et al.  Adaptive dynamic collision checking for single and multiple articulated robots in complex environments , 2005, IEEE Transactions on Robotics.

[21]  Philip M. Hubbard,et al.  Approximating polyhedra with spheres for time-critical collision detection , 1996, TOGS.

[22]  John F. Canny,et al.  Collision Detection for Moving Polyhedra , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[23]  Carme Torras,et al.  3D collision detection: a survey , 2001, Comput. Graph..

[24]  S. Sathiya Keerthi,et al.  A fast procedure for computing the distance between complex objects in three-dimensional space , 1988, IEEE J. Robotics Autom..