Reactive Path Planning in a Dynamic Environment

This paper deals with the problem of path planning in a dynamic environment, where the workspace is cluttered with unpredictably moving objects. The concept of the virtual plane is introduced and used to create reactive kinematic-based navigation laws. A virtual plane is an invertible transformation...

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Bibliographic Details
Published in:IEEE transactions on robotics 2009-08, Vol.25 (4), p.902-911
Main Author: Belkhouche, F.
Format: Article
Language:English
Subjects:
Applied sciences
Autonomous agents
Collision dynamics
Collisions
Computer science
control theory
systems
Construction
Control theory. Systems
Dynamics
Electronic mail
Exact sciences and technology
Kinematics
Laws
Mobile robots
Modeling
Modelling and identification
Motion control
Navigation
Navigation systems
Path planning
path planning for multiple mobile robot systems
Planes
Robot control
Robotics
Robots
Systems engineering and theory
Velocity control
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Summary:This paper deals with the problem of path planning in a dynamic environment, where the workspace is cluttered with unpredictably moving objects. The concept of the virtual plane is introduced and used to create reactive kinematic-based navigation laws. A virtual plane is an invertible transformation equivalent to the workspace, which is constructed by using a local observer. This results in important simplifications of the collision detection process. Based on the virtual plane, it is possible to determine the intervals of the linear velocity and the paths that lead to collisions with moving obstacles and then derive a dynamic window for the velocity and the orientation to navigate the robot safely. The speed of the robot and the orientation angle are controlled independently using simple collision cones and collision windows constructed from the virtual plane. The robot's path is controlled using kinematic-based navigation laws that depend on navigation parameters. These parameters are tuned in real time to adjust the path of the robot. Simulation is used to illustrate collision detection and path planning.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2009.2022441