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Motion planning in dynamic environments using the relative velocity paradigm
[1993] Proceedings IEEE International Conference on Robotics and Automation, 2002A simple and efficient approach to the computation of avoidance maneuvers among moving obstacles is presented. The method is discussed for the case of a single maneuvering object avoiding several obstacles moving on known linear trajectories. The original dynamic problem is transformed into several static problems using the relative velocity between ...
Paolo Fiorini, Zvi Shiller
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Trajectory Planning with Velocity Planner for Fully-Automated Passenger Vehicles
2006 IEEE Intelligent Transportation Systems Conference, 2006For fully-automated passenger vehicles, trajectory planning that produce smooth trajectories, with respect to the comfort of human body, is required. An approach that consists of introducing a velocity planning stage to generate adequate time sequences to be used in the interpolating curve planner, is proposed. The generated speed profile can be merged
Razvan Solea, Urbano Nunes 0001
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Trajectory Planning of Unicycle Mobile Robots With a Trapezoidal-Velocity Constraint
IEEE Transactions on Robotics, 2010We propose an efficient stochastic scheme for minimum-time trajectory planning of a nonholonomic unicycle mobile robot under constraints on path curvature, velocities, and torques. This problem, which is known to be complex, often requires important runtimes, particularly if obstacles are present and if full dynamics is considered.
Moussa Haddad +2 more
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Velocity bounds for motion planning in the presence of moving planar obstacles
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94), 2002This paper is concerned with motion planning for a mobile robot operating in a planar environment with multiple arbitrarily moving obstacles. The robot and obstacles are rigid bodies of arbitrary shapes. All rigid motion-rotation and translation-is considered for the obstacles; the robot can move only by translation.
Vladimir J. Lumelsky, Sanjay Tiwari
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IEEE Transactions on Intelligent Transportation Systems, 2023
Christian Sohn, Jakob Andert
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Christian Sohn, Jakob Andert
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Optimal velocity planning for autonomous vehicles considering curvature constraints
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007The paper addresses a velocity planning problem for autonomous vehicles. Appropriate bounds on velocities and accelerations have to be considered in order to avoid wheels skidding and actuators saturation. Planned profiles fulfill an assigned travelling time, while longitudinal jerk is minimized in order to increase the motion smoothness.
GUARINO LO BIANCO, Corrado, M. ROMANO
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Optimal Evasive Path Planning with Velocity Constraint
2022 IEEE Asia Pacific Conference on Circuits and Systems (APCCAS), 2022Karnika Biswas +3 more
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Decentralized Velocity-Aware Motion Planning for Multi-agent Coordination
2019 IEEE International Conference on Service-Oriented System Engineering (SOSE), 2019Multi-agent motion planning is a crucial topic with applications of search and rescue missions, transportation missions, etc. The concerns of motion planning focus on path planning and inter-agent collision avoidance. Lyapunov-based models present great solutions for the problems.
Yujiao Hu +2 more
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Multi-agent Path Planning with Non-constant Velocity Motion
International Joint Conference on Autonomous Agents and Multiagent Systems, 2019Multi-agent path planning has wide application in fields such as robotics, transportation, logistics, computer games, etc.. To formulate the multi-agent path finding as a concisely discretized problem, most of the previous works did not construct a detailed motion model of each agent.
Ngai Meng Kou +8 more
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Varying velocity hopping gait planning of a one-legged robot
2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), 2014For the one-legged robot, a modified SLIP model is studied in this paper and dynamical characteristics of flight phase, impact phase and stance phase in hopping gait are analyzed. A hybrid dynamics correspond to these phases are derived by Newton-Euler Recursive Approach.
Haili Qian +3 more
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