Collision Avoidance of a Kinodynamically Constrained System from Passive Agents
Robot motion planning in dynamic environments is significantly difficult, especially when the future trajectories of dynamic obstacles are only predictable over a short time interval and can change frequently. Moreover, a robot’s kinodynamic constraints make the task more challenging. This paper pro...
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D. G. Pylarinos
2021-02-01
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doaj-e394dce95e8b4127a4685593813821392021-02-06T13:49:09ZengD. G. PylarinosEngineering, Technology & Applied Science Research2241-44871792-80362021-02-0111110.48084/etasr.4022Collision Avoidance of a Kinodynamically Constrained System from Passive AgentsK. M. Zuhaib0J. Iqbal1A. M. Bughio2S. A. S. Bukhari3K. Kanwar4Department of Electronics Engineering, Quaid-e-Awam University of Engineering, Science & Technology, PakistanDepartment of Mechanical Engineering, Quaid-e-Awam University of Engineering, Science & Technology, PakistanDepartment of Electronic Engineering, Quaid-e-Awam University of Engineering Science and Technology, PakistanDepartment of Electrical Engineering, Quaid-e-Awam University of Engineering, Science & Technology, PakistanDepartment of Electronics Engineering, Quaid-e-Awam University of Engineering, Science & Technology, PakistanRobot motion planning in dynamic environments is significantly difficult, especially when the future trajectories of dynamic obstacles are only predictable over a short time interval and can change frequently. Moreover, a robot’s kinodynamic constraints make the task more challenging. This paper proposes a novel collision avoidance scheme for navigating a kinodynamically constrained robot among multiple passive agents with partially predictable behavior. For this purpose, this paper presents a new approach that maps collision avoidance and kinodynamic constraints on robot motion as geometrical bounds of its control space. This was achieved by extending the concept of nonlinear velocity obstacles to incorporate the robot’s kinodynamic constraints. The proposed concept of bounded control space was used to design a collision avoidance strategy for a car-like robot by employing a predict-plan-act framework. The results of simulated experiments demonstrate the effectiveness of the proposed algorithm when compared to existing velocity obstacle based approaches. http://etasr.com/index.php/ETASR/article/view/4022collision avoidancedynamic environmentmotion planningnavigationmobile robotkinodynamic constraint |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
K. M. Zuhaib J. Iqbal A. M. Bughio S. A. S. Bukhari K. Kanwar |
spellingShingle |
K. M. Zuhaib J. Iqbal A. M. Bughio S. A. S. Bukhari K. Kanwar Collision Avoidance of a Kinodynamically Constrained System from Passive Agents Engineering, Technology & Applied Science Research collision avoidance dynamic environment motion planning navigation mobile robot kinodynamic constraint |
author_facet |
K. M. Zuhaib J. Iqbal A. M. Bughio S. A. S. Bukhari K. Kanwar |
author_sort |
K. M. Zuhaib |
title |
Collision Avoidance of a Kinodynamically Constrained System from Passive Agents |
title_short |
Collision Avoidance of a Kinodynamically Constrained System from Passive Agents |
title_full |
Collision Avoidance of a Kinodynamically Constrained System from Passive Agents |
title_fullStr |
Collision Avoidance of a Kinodynamically Constrained System from Passive Agents |
title_full_unstemmed |
Collision Avoidance of a Kinodynamically Constrained System from Passive Agents |
title_sort |
collision avoidance of a kinodynamically constrained system from passive agents |
publisher |
D. G. Pylarinos |
series |
Engineering, Technology & Applied Science Research |
issn |
2241-4487 1792-8036 |
publishDate |
2021-02-01 |
description |
Robot motion planning in dynamic environments is significantly difficult, especially when the future trajectories of dynamic obstacles are only predictable over a short time interval and can change frequently. Moreover, a robot’s kinodynamic constraints make the task more challenging. This paper proposes a novel collision avoidance scheme for navigating a kinodynamically constrained robot among multiple passive agents with partially predictable behavior. For this purpose, this paper presents a new approach that maps collision avoidance and kinodynamic constraints on robot motion as geometrical bounds of its control space. This was achieved by extending the concept of nonlinear velocity obstacles to incorporate the robot’s kinodynamic constraints. The proposed concept of bounded control space was used to design a collision avoidance strategy for a car-like robot by employing a predict-plan-act framework. The results of simulated experiments demonstrate the effectiveness of the proposed algorithm when compared to existing velocity obstacle based approaches.
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topic |
collision avoidance dynamic environment motion planning navigation mobile robot kinodynamic constraint |
url |
http://etasr.com/index.php/ETASR/article/view/4022 |
work_keys_str_mv |
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