Kinodynamic Planning With Moving Obstacles: The Case Of A Structured Workspace
Thierry Fraichard, Christian Laugier · 2005
This paper deals with trajectory planning for a mobile A which is subject to constraints on its velocity and acceleration and travels in a structured workspace W amidst fixed and moving obstacles. By structured workspace, we mean that there exist lanes within which A is able to move without colliding with the fixed obstacles of W. This paper presents an efficient method which determines an approximate time-optimal solution to this problem in the following way: given a set of adjacent lanes, one of which leads A to its goal, and knowing that A is able to shift from one lane to an adjacent one, we determine the trajectory of A along these lanes so as to avoid any collision with the moving obstacles of W while respecting the dynamic constraints of A (bounded acceleration and velocity). The technique we have chosen in order to determine the trajectory of A along the lanes is to discretize and then explore the time-state space of A (this time-state space is obtained by adding the time dime...