Model based real-time collision-free motion planning for mobile robots in unknown dynamic environments

2011 ◽  
Author(s):  
Hongliang Yuan ◽  
Taehyun Shim
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Real Time ◽  
Dynamic Environments ◽  
Free Motion ◽  
Model Based

Motion Planning of Mobile Robots for Occluded Obstacles

2018 ◽  
Vol 30 (3) ◽  
pp. 485-492
Author(s):  
Satoshi Hoshino ◽  
◽  
Tomoki Yoshikawa
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Dynamic Environments ◽  
Simulation Experiments ◽  
Moving Obstacles ◽  
Moving Direction ◽  
Velocity Obstacle

Motion planning of mobile robots for occluded obstacles is a challenge in dynamic environments. The occlusion problem states that if an obstacle suddenly appears from the occluded area, the robot might collide with the obstacle. To overcome this, we propose a novel motion planner, the Velocity Obstacle for occlusion (VOO). The VOO is based on a previous motion planner, the Velocity Obstacle (VO), which is effective for moving obstacles. In the proposed motion planner, information uncertainties about occluded obstacles, such as position, velocity, and moving direction, are quantitatively addressed. Thus, the robot based on the VOO is able to move not only among observed obstacles, but also among the occluded ones. Through simulation experiments, the effectiveness of the VOO for the occlusion problem is demonstrated by comparison with the VO.

Real-time nonparametric reactive navigation of mobile robots in dynamic environments

2017 ◽  
Vol 91 ◽  
pp. 11-24 ◽  
Author(s):  
Sungjoon Choi ◽  
Eunwoo Kim ◽  
Kyungjae Lee ◽  
Songhwai Oh
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Dynamic Environments ◽  
Reactive Navigation
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