Velocity obstacles for car-like mobile robots: Determination of colliding velocity and curvature pairs
Emese Gincsainé Szádeczky-Kardoss, Zoltán Gyenes · Advances in Science Technology and Engineering Systems Journal · 2018
This paper addresses the motion planning problem of Reeds-Shepp-type car-like mobile robots moving among static and dynamic obstacles.If the positions and the velocity vectors of the obstacles are known or well estimated, the Velocity Obstacles (VO) method and its non-linear version (NLVO) can be used to plan a collision-free trajectory for a robot in the dynamic environment.VO and NLVO algorithms determine a velocity vector for the robot which corresponds not necessarily to the orientation of the robot, hence a nonholonomic car-like mobile robot cannot apply it exactly.Previously, the NLVO method was adopted for Dubins-like mobile robots, which are able to move forward only.In this paper, a method similar to NLVO is presented, but it results motions feasible for Reeds-Shepp-type robots, which are able to drive both forward and backward.Longitudinal velocities and curvatures of turning circles are calculated, which ensure collision-free motion if the arbitrary movement of the obstacles are known for some time-horizon.