Dynamic Obstacle Avoidance using Online Trajectory Time-scaling and Local Replanning

Ran Zhao, Daniel Sidobre

2015

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.

Paper Citation

in Harvard Style

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

in Bibtex Style

@conference{icinco15,
author={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},
}

in EndNote Style

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 - Sidobre D.
PY - 2015
SP - 414
EP - 421
DO - 10.5220/0005570204140421