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NASA NTRS · 20060037569

Time Optimal Trajectory Planning in Dynamic Environments

Fiorini, P.·Shiller, Z.
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Abstract

A method is presented for planning the motion of a robot in a dynamic environment by computing a trajectory that avoids all obstacles and that satisfies the robot dynamics and its actuator constraints. This method consists of two steps -- the computation of the trajectory and its refinement with a dynamic optimization.

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Robotics Velocity Obstacle

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BibTeXRIS

Fiorini, P., Shiller, Z.. 1996-04-01. Time Optimal Trajectory Planning in Dynamic Environments. https://ntrs.nasa.gov/citations/20060037569

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NASA NTRS1995

Robot Motion Planning Among Moving Obstacles

An on-line method is presented for computing the motion of a robot in a dynamic environment subject to the robot dynamics and its actuator constraints. This method is based on the concept of Velocity Obstacle that defines the set of robot velocities that would result in a collision between the robot and a moving obstacle. The problem of motion planning in dynamic environments is addressed.

Robotics Velocity Obstacle↗