An on-line method is presented for computing the motion of a robot in a dynamic environment subject to the robot dynamics and its actuator constraints. This method is based on the concept of Velocity Obstacle that defines the set of robot velocities that would result in a collision between the robot and a moving obstacle. The problem of motion planning in dynamic environments is addressed.
Robot Motion Planning Among Moving Obstacles
1995-08-01
Preprint
Keine Angabe
Englisch
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