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Authors: Ran Zhao 1 and Daniel Sidobre 2

Affiliations: 1 CNRS and Univ. de Toulouse, France ; 2 Univ. de Toulouse, France

ISBN: 978-989-758-123-6

Keyword(s): Obstacle Avoidance, Velocity Obstacles, Trajectory Time-scaling, Local Replanning.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: In various circumstances, planning at trajectory level is very useful to generate flexible collision-free motions for autonomous robots, especially when the system interacts with humans or human environment. This paper presents a simple and fast obstacle avoidance algorithm that operates at the trajectory level in real-time. The algorithm uses the Velocity Obstacle to obtain the boundary conditions required to avoid a dynamic obstacle, and then adjust the time evolution using the non-linear trajectory time-scaling scheme. A trajectory local replanning method is applied to make a detour when the static obstacles block the advance path of the robot, which leads to failure of implementing time-scaling approach. Cubic polynomial functions are used to describe trajectories, which brings sufficient flexibility in terms of providing higher order smoothness. We applied this algorithm on reaching tasks for a mobile robot. Simulation results demonstrate that the technique can generate collision -free motion in real time. (More)

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Paper citation in several formats:
Zhao, R.; Zhao, R. and Sidobre, D. (2015). Dynamic Obstacle Avoidance using Online Trajectory Time-scaling and Local Replanning.In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 414-421. DOI: 10.5220/0005570204140421

@conference{icinco15,
author={Ran Zhao. and Ran Zhao. and Daniel Sidobre.},
title={Dynamic Obstacle Avoidance using Online Trajectory Time-scaling and Local Replanning},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={414-421},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005570204140421},
isbn={978-989-758-123-6},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Dynamic Obstacle Avoidance using Online Trajectory Time-scaling and Local Replanning
SN - 978-989-758-123-6
AU - Zhao, R.
AU - Zhao, R.
AU - Sidobre, D.
PY - 2015
SP - 414
EP - 421
DO - 10.5220/0005570204140421

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