Smooth Trajectory Generation with 4D Space Analysis for Dynamic Obstacle Avoidance

Suhyeon Gim, Lounis Adouane, Sukhan Lee, Jean-Pierre Derutin

2014

Abstract

This paper presents smooth trajectory generation scheme for obstacle avoidance in static and dynamic environment. The smooth trajectory has successive two steps where smooth path is generated firstly and then corresponding velocity is planned along the path. Smooth path of continuous curvature is composed by parametrically adjusted clothoids with proposed algorithm and then the safe velocity planning is carried out in the 4D configuration framework. Two circles are used to completely surround the used nonholonomic car-like vehicle, this permit to check the probable future vehicle's collisions and to have space-time analysis. Some demonstrative simulations show the strong potential of the proposed smooth and flexible methodology for future experimentations with actual vehicles.

References

  1. Adouane, L. (2013). Toward smooth and stable reactive mobile robot navigation using on-line control set-points. In IEEE/RSJ, IROS'13, 5th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Tokyo-Japan.
  2. Berg, J. V., Lin, M., and Manocha, D. (2008). Reciprocal velocity obstacles for real-time multi-agent navigation. IEEE Int. Conf. on Robotics and Automation, pages 1928-1935.
  3. Chakravarthy, A. and Ghose, D. (1998). Obstacle avoidance in a dynamic environment: A collision cone approach. IEEE trans. on Systems, Man and Cybernetics-Part A: Systems and Humans, 28(5):562-574.
  4. Chakravarthy, A. and Ghose, D. (2011). Collision cones for quadric surfaces. IEEE Trans. on Robotics, 27(6):1159-1166.
  5. Dubins, L. E. (1957). On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. American Journal of Mathematics, 79:497-516.
  6. Fiorini, P. and Shiller, Z. (1998). Motion planning in dynamic environments using velocity obstacles. Int. J. of Robotics Research, 17(7):760-772.
  7. Fraichard, T. and Scheuer, A. (2004). From Reeds and Shepp's to continuous curvature paths. IEEE Trans. on Robotics, 20:1025-1035.
  8. Fulgenzi, C., Spalanzani, A., and Laugier, C. (2007). Dynamic obstacle avoidance in uncertain environment combining pvos and occupancy grid. IEEE Int. Conf. on Robotics and Automation, pages 1610-1616.
  9. Giesbrecht, J. (2004). Global path planning for unmanned ground vehicles.
  10. Gim, S., Adouane, L., Lee, S., and Derutin, J.-P. (2014). Parametric continuous curvature trajectory for smooth steering of the car-like vehicle. Int. Conf. on Intelligent Autonomous Systems.
  11. Kelly, A. and Nagy, B. (2003). Reactive nonholonomic trajectory generation via parametric optimal control. The International Journal of Robotics Research, 22(7 - 8):583 - 601.
  12. Khatib, O. (1986). Real-time obstacle avoidance for manipulators and mobile robots. The int. J. of Robotics Research, 5(1):90-98.
  13. Lamiraux, F. and Laumond, J. P. (2001). Smooth motion planning for car-like vehicles. IEEE Trans. on Robotics and Automation, 17(4):498-501.
  14. Likhachev, M. and Ferguson, D. (2009). Planning long dynamically feasible maneuvers for autonomous vehicles. Int. Journal of Robotics Research, 28(8):933- 945.
  15. Montes, N., Mora, M. C., and Tornero, J. (2007). Trajectory generation based on rational Bezier curves as clothoids. IEEE Intel. Vehicles Symposium, pages 505-510.
  16. Reeds, J. A. and Shepp, L. A. (1990). Optimal paths for a car that goes both forwards and backwards. Pacific Journal of Mathematics, 145(2):367-393.
  17. Solea, R. and Nunes, U. (2006). Trajectory planning with velocity planner for fully-automated passenger vehicle. Intel. Transportation Systems Conf., pages 474- 480.
  18. Thompson, S. and Kagami, S. (2005). Continuous curvature trajectory generation with obstacle avoidance for car like robot. Int. Conf. on Computational Intelligence for Modeling, Control and Automation, pages 863-870.
  19. Villagra, J., Milantes, V., Perez, J., and Godoy, J. (2012). Smooth path and speed planning for an automated public transport vehicle. Robotics and Autonomous Systems, 60:252-265.
  20. Wilde, D. K. (2009). Computing clothoid segments for trajectory generation. IEEE/RSJ Int. Conf. on Intel. Robots and Systems, pages 2440-2445.
  21. Wilkie, D., van den Berg, J., and Manocha, D. (2009). Generalized velocity obstacles. IEEE Int. Conf. on Intelligent Robots and Systems, pages 5573-5578.
  22. Wu, P. P. Y., Campbell, D., and Merz, T. (2011). Multiobjective four-dimenstional vehicle motion planning in large dynamic environments. IEEE Trans. on Systems, Man, and Cybernetics-Part B:Cyberntetics, 41(3):621-634.
Download


Paper Citation


in Harvard Style

Gim S., Adouane L., Lee S. and Derutin J. (2014). Smooth Trajectory Generation with 4D Space Analysis for Dynamic Obstacle Avoidance . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: IVC&ITS, (ICINCO 2014) ISBN 978-989-758-040-6, pages 802-809. DOI: 10.5220/0005148808020809


in Bibtex Style

@conference{ivc&its14,
author={Suhyeon Gim and Lounis Adouane and Sukhan Lee and Jean-Pierre Derutin},
title={Smooth Trajectory Generation with 4D Space Analysis for Dynamic Obstacle Avoidance},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: IVC&ITS, (ICINCO 2014)},
year={2014},
pages={802-809},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005148808020809},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: IVC&ITS, (ICINCO 2014)
TI - Smooth Trajectory Generation with 4D Space Analysis for Dynamic Obstacle Avoidance
SN - 978-989-758-040-6
AU - Gim S.
AU - Adouane L.
AU - Lee S.
AU - Derutin J.
PY - 2014
SP - 802
EP - 809
DO - 10.5220/0005148808020809