NDLI: Safe motion planning in dynamic environments

Content Provider	IEEE Xplore Digital Library
Author	Petti, S. Fraichard, T.
Copyright Year	2005
Description	Author affiliation: Inria Rocquencourt & Ecole des Mines de Paris, France (Petti, S.)
Abstract	This paper addresses the problem of motion planning (MP) in dynamic environments. It is first argued that dynamic environments impose a real-time constraint upon MP: it has a limited time only to compute a motion, the time available being a function of the dynamicity of the environment. Now, given the intrinsic complexity of MP, computing a complete motion to the goal within the time available is impossible to achieve in most real situations. Partial motion planning (PMP) is the answer to this problem proposed in this paper. PMP is a motion planning scheme with an anytime flavor: when the time available is over, PMP returns the best partial motion to the goal computed so far. Like reactive navigation scheme, PMP faces a safety issue: what guarantee is there that the system will never end up in a critical situation yielding an inevitable collision? The answer proposed in this paper to this safety issue relies upon the concept of inevitable collision states (ICS). ICS takes into account the dynamics of both the system and the moving obstacles. By computing ICS-free partial motion, the system safety can be guaranteed. Application of PMP to the case of a car-like system in a dynamic environment is presented.
Starting Page	2210
Ending Page	2215
File Size	220016
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545549
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Portable media players Safety Navigation Motion planning Orbital robotics Robot sensing systems Real time systems Computational geometry Timing Velocity control Dynamic Environments Motion Planning
Content Type	Text
Resource Type	Article

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