Abstract
To ensure the collision safety of mobile robots, the velocity of dynamic obstacles should be considered while planning the robot's trajectory for high-speed navigation tasks. A planning scheme that computes the collision avoidance trajectory by assuming static obstacles may result in obstacle collisions owing to the relative velocities of dynamic obstacles. This article proposes a trajectory time-scaling scheme that considers the velocities of dynamic obstacles. The proposed inverse nonlinear velocity obstacle (INLVO) is used to compute the nonlinear velocity obstacle based on the known trajectory of the mobile robot. The INLVO can be used to obtain the boundary conditions required to avoid a dynamic obstacle. The simulation results showed that the proposed scheme can deal with typical collision states within a short period of time. The proposed scheme is advantageous because it can be applied to conventional trajectory planning schemes without high computational costs. In addition, the proposed scheme for avoiding dynamic obstacles can be used without an accurate prediction of the obstacle trajectories owing to the fast generation of the time-scaling trajectory.
| Original language | English |
|---|---|
| Pages (from-to) | 1189-1198 |
| Number of pages | 10 |
| Journal | Advanced Robotics |
| Volume | 27 |
| Issue number | 15 |
| DOIs | |
| Publication status | Published - 2013 Jul 1 |
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Keywords
- Mobile robot
- Mobstacle avoidance
- Nonlinear velocity obstacles
- Trajectory time scaling
ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Computer Science Applications
- Hardware and Architecture
- Software
Cite this
Trajectory time scaling of a mobile robot to avoid dynamic obstacles on the basis of the INLVO. / Moon, Chang Bae; Chung, Woo Jin.
In: Advanced Robotics, Vol. 27, No. 15, 01.07.2013, p. 1189-1198.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Trajectory time scaling of a mobile robot to avoid dynamic obstacles on the basis of the INLVO
AU - Moon, Chang Bae
AU - Chung, Woo Jin
PY - 2013/7/1
Y1 - 2013/7/1
N2 - To ensure the collision safety of mobile robots, the velocity of dynamic obstacles should be considered while planning the robot's trajectory for high-speed navigation tasks. A planning scheme that computes the collision avoidance trajectory by assuming static obstacles may result in obstacle collisions owing to the relative velocities of dynamic obstacles. This article proposes a trajectory time-scaling scheme that considers the velocities of dynamic obstacles. The proposed inverse nonlinear velocity obstacle (INLVO) is used to compute the nonlinear velocity obstacle based on the known trajectory of the mobile robot. The INLVO can be used to obtain the boundary conditions required to avoid a dynamic obstacle. The simulation results showed that the proposed scheme can deal with typical collision states within a short period of time. The proposed scheme is advantageous because it can be applied to conventional trajectory planning schemes without high computational costs. In addition, the proposed scheme for avoiding dynamic obstacles can be used without an accurate prediction of the obstacle trajectories owing to the fast generation of the time-scaling trajectory.
AB - To ensure the collision safety of mobile robots, the velocity of dynamic obstacles should be considered while planning the robot's trajectory for high-speed navigation tasks. A planning scheme that computes the collision avoidance trajectory by assuming static obstacles may result in obstacle collisions owing to the relative velocities of dynamic obstacles. This article proposes a trajectory time-scaling scheme that considers the velocities of dynamic obstacles. The proposed inverse nonlinear velocity obstacle (INLVO) is used to compute the nonlinear velocity obstacle based on the known trajectory of the mobile robot. The INLVO can be used to obtain the boundary conditions required to avoid a dynamic obstacle. The simulation results showed that the proposed scheme can deal with typical collision states within a short period of time. The proposed scheme is advantageous because it can be applied to conventional trajectory planning schemes without high computational costs. In addition, the proposed scheme for avoiding dynamic obstacles can be used without an accurate prediction of the obstacle trajectories owing to the fast generation of the time-scaling trajectory.
KW - Mobile robot
KW - Mobstacle avoidance
KW - Nonlinear velocity obstacles
KW - Trajectory time scaling
UR - http://www.scopus.com/inward/record.url?scp=84886093940&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84886093940&partnerID=8YFLogxK
U2 - 10.1080/01691864.2013.819604
DO - 10.1080/01691864.2013.819604
M3 - Article
AN - SCOPUS:84886093940
VL - 27
SP - 1189
EP - 1198
JO - Advanced Robotics
JF - Advanced Robotics
SN - 0169-1864
IS - 15
ER -