Results 1 
3 of
3
Pathvelocity decomposition revisited and applied to dynamic trajectory planning
 In IEEE International Conference of Automation and Robotics
"... ..."
(Show Context)
Dynamic Trajectory Planning, PathVelocity Decomposition and Adjacent Paths
, 1993
"... This paper addresses Dynamic Trajectory Planning, which is defined as Motion Planning for a robot A moving in a dynamic workspace W, i.e. with moving obstacles. Besides A is subject both to kinematic constraints and dynamic constraints. We consider the case of a carlike robot A with bounded velocit ..."
Abstract

Cited by 11 (5 self)
 Add to MetaCart
This paper addresses Dynamic Trajectory Planning, which is defined as Motion Planning for a robot A moving in a dynamic workspace W, i.e. with moving obstacles. Besides A is subject both to kinematic constraints and dynamic constraints. We consider the case of a carlike robot A with bounded velocity and acceleration, moving in a dynamic workspace W = IR 2 . Our approach is an extension to the PathVelocity Decomposition [Kant and Zucker, 1986]. We introduce the concept of adjacent paths and we use it within a novel planning schema which operates in two complementary stages: (a) Paths Planning and (b) Trajectory Planning. In Paths Planning, a set of adjacent paths, one of which leading A to its goal, are computed. These paths are collisionfree with the stationary obstacles and respect A's kinematic constraints. In Trajectory Planning, knowing that A is able to shift from one path to an adjacent one freely, we determine the motion of A along and between these paths so as to avoid the...
Trajectory Planning Amidst Moving Obstacles: PathVelocity Decomposition Revisited
, 1998
"... This paper addresses trajectory planning for a robot subject to dynamic constraints and moving in a dynamic workspace. A carlike robot A with bounded velocity and acceleration, moving in a dynamic twodimensional workspace is considered. The solution proposed is an extension of the pathvelocity de ..."
Abstract

Cited by 2 (0 self)
 Add to MetaCart
This paper addresses trajectory planning for a robot subject to dynamic constraints and moving in a dynamic workspace. A carlike robot A with bounded velocity and acceleration, moving in a dynamic twodimensional workspace is considered. The solution proposed is an extension of the pathvelocity decomposition which is a practical way to address trajectory planning in dynamic workspaces. However it presents a serious drawback: it cannot find a solution if a moving obstacle stops right on the computed path. Previous answers to this problem were to consider sets of candidate paths. The answer proposed in this paper makes use of the novel concept of adjacent paths (like adjacent lanes of the roadway). A set of adjacent paths, one of which leads A to its goal, is computed. Then, assuming that A is able to shift from one path to an adjacent one freely, the motion of A along and between these paths is determined so as to avoid the moving obstacles. The fact that it is possible to switch sev...