Results 221 to 230 of about 17,478 (257)

Vehicle Safety of the Velocity Obstacle Algorithm

2020 59th IEEE Conference on Decision and Control (CDC), 2020
This paper presents a mathematical analysis of the velocity obstacle algorithm applied to a nonholonomic vehicle for avoiding a moving obstacle in the plane. The velocity obstacle algorithm can be used for local navigation among dynamic obstacles by continually computing a set of unsafe velocities, and avoid the velocities inside of this set.
Aurora Haraldsen, Martin S. Wiig, Kristin Ytterstad Pettersen   +2 more
openaire   +1 more source

Generalized velocity obstacles

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
We address the problem of real-time navigation in dynamic environments for car-like robots. We present an approach to identify controls that will lead to a collision with a moving obstacle at some point in the future. Our approach generalizes the concept of velocity obstacles, which have been used for navigation among dynamic obstacles, and takes into ...
David Wilkie, Jur P. van den Berg, Dinesh Manocha   +2 more
openaire   +1 more source

Avoidance of High-Speed Obstacles Based on Velocity Obstacles

2018 IEEE International Conference on Robotics and Automation (ICRA), 2018
For obstacles moving with high speeds, existing motion planning methods can rarely guarantee collision avoidance. This paper proposes a viable two-period velocity obstacle algorithm where one period predicts potential collisions within a limited time horizon, and the second period foresees collisions beyond that horizon.
Zhongchang Liu, Zeyu Jiang, Tianye Xu, Hui Cheng, Zhipeng Xie, Liang Lin   +5 more
openaire   +1 more source

Trajectory Regeneration Considering Velocity of Dynamic Obstacles Using the Nonlinear Velocity Obstacles

Transactions of the Korean Society of Mechanical Engineers A, 2014
를 계산할 수 있기 때문에 유용한 제어 기법이다. 서비스 로봇이 충돌안전성을 확보한 상태에서 고속 주행 임무를 수행하기 위해서는 동적 장애물의 속도를 고려한 궤적 계획이 필요하다. 정적 장애물만을 고려한 상태에서 궤적을 계획하는 경우 장애물과의 Key Words: Mobile Robot(이동로봇), Navigation(주행), Obstacle Avoidance(장애물회피), Trajectory Regeneration(궤적 재생성) 초록: 서비스 로봇이 충돌안전성을 확보한 상태에서 고속 주행 임무를 수행하기 위해서는 동적 장애물의 속도를 고려한 궤적 계획이 필요하다.
Chang-Bae Moon, Woojin Chung
openaire   +1 more source

Multi-Robot Formation with Obstacle Avoidance: An Improved Velocity Obstacle-Based Approach

2023 IEEE International Conference on Unmanned Systems (ICUS), 2023
Xuqiang Lei
exaly   +2 more sources

Development of an optimal velocity selection method with velocity obstacle

Journal of Mechanical Science and Technology, 2015
The Velocity obstacle (VO) method is one of the most well-known methods for local path planning, allowing consideration of dynamic obstacles and unexpected obstacles. Typical VO methods separate a velocity map into a collision area and a collision-free area.
Mingeuk Kim, JunHo Oh
openaire   +1 more source

Prioritized group navigation with Formation Velocity Obstacles

2015 IEEE International Conference on Robotics and Automation (ICRA), 2015
We introduce the problem of navigating a group of robots having prioritized formations amidst static and dynamic obstacles. Our formulation allows users to define a number of template formations, each with a specified priority value. At each planning cycle, we compute a new formation which accounts for both these priority values and the safe progress ...
Ioannis Karamouzas, Stephen J. Guy
openaire   +1 more source

Reciprocal collision avoidance with acceleration-velocity obstacles

2011 IEEE International Conference on Robotics and Automation, 2011
We present an approach for collision avoidance for mobile robots that takes into account acceleration constraints. We discuss both the case of navigating a single robot among moving obstacles, and the case of multiple robots reciprocally avoiding collisions with each other while navigating a common workspace.
Jur P. van den Berg, Jamie Snape, Stephen J. Guy, Dinesh Manocha   +3 more
openaire   +1 more source

A survey on Velocity Obstacle paradigm

Robotics and Autonomous Systems
Collision avoidance for multi -agent systems in dynamic and possibly crowded environment is a field of research whose popularity has increased during the last three decades. The approaches to solve the problem belong to two categories according to where the computation is done: centralized and decentralized (i.e. at the agent level).
Vesentini, Federico, Muradore, Riccardo, Fiorini, Paolo   +2 more
openaire   +2 more sources