Velocity obstacles for Dubins-like mobile robots (original) (raw)

2017 25th Mediterranean Conference on Control and Automation (MED), 2017

Abstract

The paper deals with the motion planning problem for Dubins-like mobile robots in dynamic environment. Velocity obstacles (VO) method and its non-linear version (NLVO) can be applied for planning a collision-free trajectory for a robot moving among static and dynamic obstacles, whose positions and velocity vectors are supposed to be known. VO and NLVO algorithms determine a velocity vector for the robot which corresponds not necessarily to the orientation of the robot, hence a Dubins-like mobile robot cannot apply it exactly. In this paper we present a method similar to NLVO, but it results motions feasible for Dubins-like robots. Longitudinal velocities and radii of turning circles are calculated, which ensure collision-free motion if the movement of the obstacles are known for some time-horizon.

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