Motion coordination in dynamic environments: reaching a moving goal while avoiding moving obstacles
B. Kluge, Divan van der Bank, Erwin A. Prassler · 2003
In this paper we describe the problem of coordinating the motion of a mobile robot with a moving guide in dynamic, continuously changing environments, and present an approach to this problem based on velocity obstacles. As a test application, the approach has been implemented on a robotic wheelchair, which is thus enabled to accompany a person through the concourse of a railway station or a pedestrian area.