Velocity potential approach to path planning for avoiding moving obstacles

Akishita, Sadao; Kawamura, Sadao; Hisanobu, T.

doi:10.1163/156855393x00294

Cited by 18 publications

(8 citation statements)

References 8 publications

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“…By differentiating (14), (20), and (21) in time and taking in account (1), (12), and (16), we establish thaṫ is satisfied for sufficiently small deviations e anḋ…”

Section: Design Of the Control Algorithmmentioning

confidence: 92%

“…New technological tasks executed by the mechanical systems give rise to the need for studying finer issues of motion control in the mobile environment where the main system interacts with nonstationary and mobile obstacles, external objects, and so on [20][21][22][23][24][25][26]. The problem of spatial motion becomes nonstationary and gives rise to the need for modifying the existing control strategies.…”

Section: Introductionmentioning

confidence: 99%

“…The problem of spatial motion becomes nonstationary and gives rise to the need for modifying the existing control strategies. In this context, parametrization of the given (nonstationary) curve becomes even more sophisticated [20][21][22][23]25], which predestines an appreciable complication of the open-loop control systems. The methods of spatial control, which are oriented to offsetting the deviations from the mobile external object and dispense with parameterized representation of the motion trajectory, are preferable in many cases.…”

Section: Introductionmentioning

confidence: 99%

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Control of spatial motion relative to moving external objects

Miroshnik

Sergeev

2005

Autom Remote Control

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Consideration was given to the control of spatial motion of dynamic (mechanical) systems with the desired trajectory defined in the coordinate system of an external moving object. New problem-oriented models of the trajectory motion and nonlinear control algorithms that are based on the differential-geometrical methods of the theory of nonlinear multivariable systems and intended to stabilize the system relative to the nonstationary trajectory were obtained.

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“…By differentiating (14), (20), and (21) in time and taking in account (1), (12), and (16), we establish thaṫ is satisfied for sufficiently small deviations e anḋ…”

Section: Design Of the Control Algorithmmentioning

confidence: 92%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Control of spatial motion relative to moving external objects

Miroshnik

Sergeev

2005

Autom Remote Control

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“…The planner is a decentralized, path cost path self-organizing machine with a computational complexity that is linear in the number of agents. Moreover, the planner is complete (i.e., if a solution exists, the planner will find it; otherwise it will give an indication that the problem is not solvable) provided that the condition (46) is satisfied, where , and are the radii of the two largest robots in the set of robots occupying the environment. This condition simply means that the narrowest passage in the environment should be large enough to allow any two robots in the group to simultaneously pass each other.…”

Section: Multiagent Motion Planningmentioning

confidence: 99%

Motion planning in the presence of directional and regional avoidance constraints using nonlinear, anisotropic, harmonic potential fields: a physical metaphor

Masoud

2002

IEEE Trans. Syst., Man, Cybern. A

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Motion planning, or goal-oriented, context-sensitive, intelligent control is essential if an agent is to act in a useful manner. This paper suggests a new class of motion planners that can mark a constrained trajectory to a target zone in an environment that need not necessarily be a priori known. The novelty of the suggested planner lies in its ability to enforce region avoidance and direction satisfaction constraints jointly. To the best of the authors' knowledge, this is the first time that directional constraints have been addressed in the motion planning literature. To build such a planner, the potential field approach is used for inducing the control action. In addition, to cope with the presence of the above constraints (in particular, the directional constraints), a new type of potential field, called the nonlinear anisotropic harmonic potential field, is suggested. The planner has applications in traffic management and operations research among others. Development of the approach, proofs of correctness, and simulation results are supplied.

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“…However, there is a concern that in complex situations, it is difficult to guarantee no deadlock using the potential field approach. In contrast, the velocity potential field approach is capable of fast trajectory generation even in dynamic environments with moving obstacles without any deadlock [18], [19]. In addition, the method generates the desired velocity directly by differentiating the potential function, which is an advantage from the automotive application viewpoint.…”

Section: Introductionmentioning

confidence: 99%

Collision avoidance control with steering using velocity potential field

Shibata

Sato

Wada

2014

2014 IEEE Intelligent Vehicles Symposium Proceedings

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It is expected that a collision avoidance system based on steering control could help avoid collisions even in cases where a collision cannot be avoided by braking only. For realizing steering-based collision avoidance, accurate environmental recognition and rapid motion planning in a highly dynamic environment are needed. The velocity potential field control method, which was proposed for mobile robot motion planning, has the advantages of a very low computation cost, even in dynamic environments with moving obstacles without any deadlock. In addition, the method generates the desired velocity vector to be followed but vehicle trajectory. With this feature, avoidance velocity vector is generated in realtime even in the case that the obstacles are moving and their movements cannot be anticipated. Thus, the present study proposes a collision avoidance method with steering control by generating a trajectory for obstacle avoidance using local environmental recognition based on application of the velocity potential field approach. In addition, a parameter determination method for the velocity potential function is derived. A preview steering control method for following the derived velocity vector is proposed. The simulation results obtained using vehicle dynamics software demonstrate that the proposed method can generate appropriate obstacle avoidance trajectories, even for moving obstacles, and the derived velocity vector can be tracked by an automobile.

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Velocity potential approach to path planning for avoiding moving obstacles

Cited by 18 publications

References 8 publications

Control of spatial motion relative to moving external objects

Control of spatial motion relative to moving external objects

Motion planning in the presence of directional and regional avoidance constraints using nonlinear, anisotropic, harmonic potential fields: a physical metaphor

Collision avoidance control with steering using velocity potential field

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