Results 231 to 240 of about 2,390,361 (275)

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

Dynamic collision avoidance of mobile robot based on velocity obstacles

International Conference on Transportation, Mechanical, and Electrical Engineering, 2011
Xunyu Zhong, Xiafu Peng
exaly   +2 more sources

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

Autonomous Indoor Vehicle Navigation Using Modified Steering Velocity Obstacles

International Seminar on Intelligent Technology and Its Applications, 2020
Wheeled mobile robot as an autonomous vehicle that operate in indoor environment must be equipped with the ability to navigate from the initial position to the target.
Muhammad Fuad, T. Agustinah, D. Purwanto
semanticscholar   +1 more source

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

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

Avoiding moving obstacles: the forbidden velocity map

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
Robotic obstacle avoidance in cluttered and dense environments is an important issue in robotic navigation. Over the past few years a number of techniques has been proposed to deal with safe navigation among obstacles in unknown scenarios. Unfortunately many of these methods do not consider obstacle velocities, which can rise some serious questions ...
Bruno D. Damas, José Santos-Victor
openaire   +1 more source

Dynamic Obstacle Avoidance of Mobile Robot Based on Adaptive Velocity Obstacle

2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC), 2021
The Velocity Obstacle (VO) provides a good solution for mobile robot collision avoidance problem. VO divides the velocity region into collision zone and non-collision zone. The robot can avoid collisions by selecting the velocity in the non-collision zone.
Mengyuan Gu, Yunzhi Huang
openaire   +1 more source

Improving velocity obstacle approach for obstacle avoidance in indoor environments

2014 UKACC International Conference on Control (CONTROL), 2014
The velocity obstacle approach (VO) is considered an easy and simple method to avoid moving obstacles, where the collision cone principle is used to detect the collision situation between two circular-shaped objects. The VO approach has two challenges when applied in indoor environments. The first challenge is to extract collision cones of non-circular
Ahmad Alsaab, Robert Bicker
openaire   +1 more source