Velocity Obstacle-based Trajectory Planner for Two-Link Planar Manipulators
Federico Vesentini, Riccardo Muradore · 2021 European Control Conference (ECC) · 2021
Velocity Obstacle paradigm is one of the most popular and studied decentralized trajectory planning methods for multi-agent systems moving in dynamic environments. It has been successfully used in a multitude of real and simulated scenarios for the collision-free maneuver of ground or aerial mobile robots. In this paper we address the problem of adapting Velocity Obstacles to provide collision-free trajectories also for robotic manipulators with dynamic obstacles in their workspace. Simulation results show the effectiveness of the proposed approach.