The Concept of Collision-Free Motion Planning Using a Dynamic Collision Map

In this paper, we address a new method for the collision-free motion planning of a mobile robot in dynamic environments. The motion planner is based on the concept of a conventional collision map (CCM), represented on the L(travel length)-T(time) plane. We extend the CCM with dynamic information about obstacles, such as linear acceleration and angular velocity, providing useful information for estimating variation in the collision map. We first analyse the effect of the dynamic motion of an obstacle in the collision region. We then define the measure of collision dispersion (MOCD). The dynamic collision map (DCM) is generated by drawing the MOCD on the CCM. To evaluate a collision-free motion planner using the DCM, we extend the DCM with MOCD, then draw the unreachable region and deadlocked regions. Finally, we construct a collision-free motion planner using the information from the extended DCM