Open AccessCollision Avoidance of a Kinodynamically Constrained System from Passive Agents
Author(s) -
Khalil Muhammad Zuhaib,
Junaid Iqbal,
Ahsin Murtaza Bughio,
Syed Abid Ali Shah Bukhari,
K. Kanwar
Publication year - 2021
Publication title -
engineering, technology and applied science research/engineering, technology and applied science research
Language(s) - English
Resource type - Journals
eISSN - 2241-4487
pISSN - 1792-8036
DOI - 10.48084/etasr.4022
Subject(s) - collision avoidance , robot , obstacle avoidance , control theory (sociology) , bounded function , collision , computer science , obstacle , motion planning , interval (graph theory) , task (project management) , scheme (mathematics) , space (punctuation) , mobile robot , control (management) , artificial intelligence , engineering , mathematics , geography , mathematical analysis , computer security , archaeology , systems engineering , combinatorics , operating system
Robot motion planning in dynamic environments is significantly difficult, especially when the future trajectories of dynamic obstacles are only predictable over a short time interval and can change frequently. Moreover, a robot’s kinodynamic constraints make the task more challenging. This paper proposes a novel collision avoidance scheme for navigating a kinodynamically constrained robot among multiple passive agents with partially predictable behavior. For this purpose, this paper presents a new approach that maps collision avoidance and kinodynamic constraints on robot motion as geometrical bounds of its control space. This was achieved by extending the concept of nonlinear velocity obstacles to incorporate the robot’s kinodynamic constraints. The proposed concept of bounded control space was used to design a collision avoidance strategy for a car-like robot by employing a predict-plan-act framework. The results of simulated experiments demonstrate the effectiveness of the proposed algorithm when compared to existing velocity obstacle based approaches.