Collision Prediction: Conservative Advancement Among Obstacles With Unknown Motion

Collision detection is a fundamental geometric tool for sampling-based motion planners. On the contrary, collision prediction for the scenarios that obstacle’s motion is unknown is still in its infancy. This paper proposes a new approach to predict collision by assuming that obstacles are adversarial. Our new tool advances collision prediction beyond the translational and disc robots; arbitrary polygons with rotation can be used to better represent obstacles and provide tighter bound on predicted collision time. Comparing to an online motion planner that replans periodically at fixed time interval, our experimental results provide strong evidences that our method significantly reduces the number of re-plannings while maintaining higher success rate of finding a valid path.Copyright © 2014 by ASME

[1]  Tomás Lozano-Pérez,et al.  On multiple moving objects , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[2]  James K. Hahn,et al.  Realistic animation of rigid bodies , 1988, SIGGRAPH.

[3]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.

[4]  David Baraff,et al.  Curved surfaces and coherence for non-penetrating rigid body simulation , 1990, SIGGRAPH.

[5]  Dinesh Manocha,et al.  I-COLLIDE: an interactive and exact collision detection system for large-scale environments , 1995, I3D '95.

[6]  Vincent Hayward,et al.  Efficient Collision Prediction Among Many Moving Objects , 1995, Int. J. Robotics Res..

[7]  Philip M. Hubbard,et al.  Collision Detection for Interactive Graphics Applications , 1995, IEEE Trans. Vis. Comput. Graph..

[8]  Dinesh Manocha,et al.  OBBTree: a hierarchical structure for rapid interference detection , 1996, SIGGRAPH.

[9]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

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

[11]  S. LaValle.  Rapidly-exploring random trees : a new tool for path planning , 1998 .

[12]  Steven M. LaValle,et al.  Randomized Kinodynamic Planning , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[13]  Tsai-Yen Li,et al.  An incremental learning approach to motion planning with roadmap management , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[14]  Hajime Asama,et al.  Inevitable collision states — a step towards safer robots? , 2004, Adv. Robotics.

[15]  Maja J. Mataric,et al.  Motion planning using dynamic roadmaps , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[16]  Thierry Siméon,et al.  A PRM-based motion planner for dynamically changing environments , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[17]  Leonidas J. Guibas,et al.  Efficient Collision Detection among Moving Spheres with Unknown Trajectories , 2005, Algorithmica.

[18]  Tomás Lozano-Pérez,et al.  On multiple moving objects , 2005, Algorithmica.

[19]  Sebastian Thrun,et al.  Anytime Dynamic A*: An Anytime, Replanning Algorithm , 2005, ICAPS.

[20]  Jur P. van den Berg,et al.  Anytime path planning and replanning in dynamic environments , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[21]  Nidhi Kalra,et al.  Replanning with RRTs , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[22]  Mark H. Overmars,et al.  Planning the Shortest Safe Path Amidst Unpredictably Moving Obstacles , 2006, WAFR.

[23]  Jyh-Ming Lien,et al.  Hybrid Motion Planning Using Minkowski Sums , 2008, Robotics: Science and Systems.

[24]  Kristi A. Morgansen,et al.  Decentralized reactive collision avoidance for multivehicle systems , 2008, 2008 47th IEEE Conference on Decision and Control.

[25]  Thierry Fraichard,et al.  Collision avoidance in dynamic environments: An ICS-based solution and its comparative evaluation , 2009, 2009 IEEE International Conference on Robotics and Automation.

[26]  Jyh-Ming Lien,et al.  Planning motion in environments with similar obstacles , 2009, Robotics: Science and Systems.

[27]  Jonathan P. How,et al.  Real-Time Motion Planning With Applications to Autonomous Urban Driving , 2009, IEEE Transactions on Control Systems Technology.

[28]  Joel W. Burdick,et al.  Robotic motion planning in dynamic, cluttered, uncertain environments , 2010, 2010 IEEE International Conference on Robotics and Automation.

[29]  Patrick Doherty,et al.  Choosing Path Replanning Strategies for Unmanned Aircraft Systems , 2010, ICAPS.

[30]  Kris K. Hauser,et al.  Randomized Belief-Space Replanning in Partially-Observable Continuous Spaces , 2010, WAFR.

[31]  Thierry Fraichard,et al.  Inevitable Collision States: A probabilistic perspective , 2010, 2010 IEEE International Conference on Robotics and Automation.

[32]  N. Roy,et al.  Probabilistically Safe Avoidance of Dynamic Obstacles with Uncertain Motion Patterns , 2011 .

[33]  Hassen Salhi,et al.  Relaxing the inevitable collision state concept to address provably safe mobile robot navigation with limited field-of-views in unknown dynamic environments , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[34]  Zvi Shiller,et al.  Adaptive time horizon for on-line avoidance in dynamic environments , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[35]  Jyh-Ming Lien,et al.  Finding critical changes in dynamic configuration spaces , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[36]  Jonathan P. How,et al.  Guaranteed infinite horizon avoidance of unpredictable, dynamically constrained obstacles , 2012, Autonomous Robots.