Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior

Title
Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior
Author
이지영
Keywords
collision avoidance; multiple passive agents; Mobile Robot Navigation; pedestrian environment; kinodynamic planning; velocity obstacle
Issue Date
2017-09
Publisher
MDPI AG
Citation
APPLIED SCIENCES-BASEL, v. 7, No. 9, Article no. 903
Abstract
Navigating a robot in a dynamic environment is a challenging task, especially when the behavior of other agents such as pedestrians, is only partially predictable. Also, the kinodynamic constraints on robot motion add an extra challenge. This paper proposes a novel navigational strategy for collision avoidance of a kinodynamically constrained robot from multiple moving passive agents with partially predictable behavior. Specifically, this paper presents a new approach to identify the set of control inputs to the robot, named control obstacle, which leads it towards a collision with a passive agent moving along an arbitrary path. The proposed method is developed by generalizing the concept of nonlinear velocity obstacle (NLVO), which is used to avoid collision with a passive agent, and takes into account the kinodynamic constraints on robot motion. Further, it formulates the navigational problem as an optimization problem, which allows the robot to make a safe decision in the presence of various sources of unmodelled uncertainties. Finally, the performance of the algorithm is evaluated for different parameters and is compared to existing velocity obstacle-based approaches. The simulated experiments show the excellent performance of the proposed approach in term of computation time and success rate.
URI
http://www.mdpi.com/2076-3417/7/9/903/htmhttp://repository.hanyang.ac.kr/handle/20.500.11754/72369
ISSN
2076-3417
DOI
10.3390/app7090903
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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