Analytic Optimal-Based Time Horizon Using Pontryagin's Maximum Principle for Spatial Navigation
Abstract
Keywords
Full Text:
PDFReferences
J.-C. Latombe, Robot Motion Planning. Kluwer Academic Publishers, 1990.
M. Erdman and T. Lozano-Perez, “On multiple moving objects,” Algorithmica, vol. 2, pp. 447–521, 1987.
K. Fugimura and H. Samet, “A hierarchical strategy for path planning among moving obstacles,” IEEE Transactions on Robotics and Automation, vol. 5, pp. 61–69, 1989.
L. Ulrich and J. Borenstien, “Vfh+: Reliable obstacle avoidance for fast mobile robots,” in Proceedings of the IEEE International Conference on Robotics and Automation, 1998, pp. 1572–1577.
N. Ko and R. Simmons, “The lane-curvature method for local obstacle avoidance,” in International Conference on Intelligence Robots and Systems, 1998, pp. 1615–1621.
J. Minguez and L. Montano, “Nearest diagram navigation. a new realtime collision avoidance approach,” in International Conference on Intelligence Robots and Systems, 2000, pp. 2094–2100.
T. Fraichard, “Planning in dynamic workspace: a state-time space approach,” Advanced Robotics, vol. 13, pp. 75–94, 1999.
D. H. R. K. J.-C. Latombe and S. Rock, “Randomized kinodynamic motion planning with moving obstacles,” Algorithmics and Computational Robotics, vol. 4, pp. 247–264, 2000.
O. Brock and O. Khatib, “Real time replanning in high- dimensional configuration spaces using sets of homotopic paths,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2000, pp. 550–555.
N. S. J. Minguez L. Montano and R. Alami, “Global nearest diagram navigation,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2001, pp. 33–39.
E. Feron and M. D. E. Frazzoli, “Real time motion planning for agile autonomous vehicles,” AIAA Journal of Guidance Control and Dynamics, vol. 25, pp. 116–129, 2002.
D. Fox, W. Burgard, and S. Thrun, “The dynamic window approach to collision avoidance,” IEEE Robotics and Automation Magazine, vol. 4, pp. 23–33, 1997.
T. Wikman and W. N. M.S. Branicky, “Reflexive collision avoidance: a generalized approach,” in Proceedings of the IEEE International Conference on Robotics and Automation, 1993, pp. 31–36.
S. L. J. Kuffner, “Randomized kinodynamic planning,” International Journal of Robotics Research, vol. 20, pp. 378–400, 2001.
T. Fraichard, “A short paper about safety,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2007, pp. 1140–1145.
S. P. T. Fraichard, “Safe motion planning in dynamic environment,” in International Conference on Intelligence Robots and Systems, 2005, pp. 885–897.
T. Fraichard and H. Asama, “Inevitable collision state-a step towards safer robots?” Advanced Robotics, vol. 18, pp. 1001–1024, 2004.
N. Chan and M. Z. J. Kuffner, “Improved motion planning speed and safety using region of inevitable collision,” in ROMANSY, July 2008, pp. 103–114.
O. Gal, Z. Shiller, and E. Rimon, “Efficient and safe on-line motion planning in dynamic environment,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2009, pp. 88–93.
Z. S. F. Large and S. Sekhavat, “Motion planning in dynamic environments: Obstacle moving along arbitrary trajectories,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2001, pp. 3716–3721.
Z. S. O. Gal and T. Fraichard, “The nonlinear velocity obstacle revisited: the optimal time horizon,” in Workshop of Safety Motion Planning 2010.
P. Fiorini and Z. Shiller, “Motion planning in dynamic environments using velocity obstacles,” International Journal of Robotics Research, vol. 17, pp. 760–772, 1998.
S. Sundar and Z. Shiller, “Time optimal obstacle avoidance,” in Proceedings of the IEEE International Conference on Robotics and Automation, 1995, pp. 3075–3080.
S. Sundar, “Near-time optimal feedback control of robotic manipulators,” Ph.D. dissertation, UCLA, 1995.
Refbacks
- There are currently no refbacks.

This work is licensed under a Creative Commons Attribution 3.0 License.