Trajectory Planning In Time-Varying Environments, 1: TPP = PPP + VPP
Karnal Kant, Steven W. Zucker · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1985
In this paper, we present a novel approach to solving the trajectory planning problem (TPP) in time-varying environments. The essence of our approach lies in a decom-position of the TPP into two sub-problems: (i) planning the path to avoid collision with the static obstacles, and then (ii) planning the velocity along the path to avoid collision with the moving obstacles. We call the first sub-problem, the path planning problem (PPP), and the second, the velocity plan-ning problem (VPP). Thus, our decomposition is summarized by the equation TPP = PPP VPP. We use a variation of an existing approach to solve the PPP. Furthermore, we transform the VPP to a 2-dimensional PPP in path-time space. The resulting 2-dimensional PPP is then solved to determine the collision-free velociy profile.