Collision Avoidance of a Kinodynamically Constrained System from Passive Agents
Published online first on January 18, 2021.
Robot motion planning in dynamic environments is significantly difficult, especially when the future trajectories of dynamic obstacles are only predictable over a short time interval and can change frequently. Moreover, a robot’s kinodynamic constraints make the task more challenging. This paper proposes a novel collision avoidance scheme for navigating a kinodynamically constrained robot among multiple passive agents with partially predictable behavior. For this purpose, this paper presents a new approach that maps collision avoidance and kinodynamic constraints on robot motion as geometrical bounds of its control space. This was achieved by extending the concept of nonlinear velocity obstacles to incorporate the robot’s kinodynamic constraints. The proposed concept of bounded control space was used to design a collision avoidance strategy for a car-like robot by employing a predict-plan-act framework. The results of simulated experiments demonstrate the effectiveness of the proposed algorithm when compared to existing velocity obstacle based approaches.
Keywords:collision avoidance, dynamic environment, motion planning, navigation, mobile robot, kinodynamic constraint, velocity obstacle, pedestrian environment
E. Prassler, J. Scholz, and P. Fiorini, "A robotics wheelchair for crowded public environment," IEEE Robotics Automation Magazine, vol. 8, no. 1, pp. 38-45, Mar. 2001. https://doi.org/10.1109/100.924358
A. Breitenmoser, F. Tâche, G. Caprari, R. Siegwart, and R. Moser, "MagneBike: toward multi climbing robots for power plant inspection," in Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: Industry track, Richland, SC, USA, May 2010, pp. 1713-1720.
J.- Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, "A motion planner for nonholonomic mobile robots," IEEE Transactions on Robotics and Automation, vol. 10, no. 5, pp. 577-593, Oct. 1994. https://doi.org/10.1109/70.326564
A. Scheuer and T. Fraichard, "Continuous-curvature path planning for car-like vehicles," in Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, Grenoble, France, Sep. 1997, vol. 2, pp. 997-1003.
F. Lamiraux and J.- Lammond, "Smooth motion planning for car-like vehicles," IEEE Transactions on Robotics and Automation, vol. 17, no. 4, pp. 498-501, Aug. 2001. https://doi.org/10.1109/70.954762
E. Frazzoli, M. A. Dahleh, and E. Feron, "Real-Time Motion Planning for Agile Autonomous Vehicles," Journal of Guidance, Control, and Dynamics, vol. 25, no. 1, pp. 116-129, 2002. https://doi.org/10.2514/2.4856
D. Hsu, R. Kindel, J.-C. Latombe, and S. Rock, "Randomized Kinodynamic Motion Planning with Moving Obstacles," The International Journal of Robotics Research, vol. 21, no. 3, pp. 233-255, Mar. 2002. https://doi.org/10.1177/027836402320556421
M. Zucker, J. Kuffner, and M. Branicky, "Multipartite RRTs for Rapid Replanning in Dynamic Environments," in Proceedings 2007 IEEE International Conference on Robotics and Automation, Apr. 2007, pp. 1603-1609. https://doi.org/10.1109/ROBOT.2007.363553
K. Kant and S. W. Zucker, "Toward Efficient Trajectory Planning: The Path-Velocity Decomposition," The International Journal of Robotics Research, vol. 5, no. 3, pp. 72-89, Sep. 1986. https://doi.org/10.1177/027836498600500304
J. Peng and S. Akella, "Coordinating Multiple Robots with Kinodynamic Constraints Along Specified Paths," The International Journal of Robotics Research, vol. 24, no. 4, pp. 295-310, Apr. 2005. https://doi.org/10.1177/0278364905051974
J. van den Berg and M. Overmars, "Kinodynamic motion planning on roadmaps in dynamic environments," in 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct. 2007, pp. 4253-4258. https://doi.org/10.1109/IROS.2007.4398968
F. Gaillard, M. Soulignac, C. Dinont, and P. Mathieu, "Deterministic Kinodynamic Planning with hardware demonstrations," in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, Sep. 2011, pp. 3519-3525. https://doi.org/10.1109/IROS.2011.6094769
C. Chen, M. Rickert, and A. Knoll, "Kinodynamic motion planning with Space-Time Exploration Guided Heuristic Search for car-like robots in dynamic environments," in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, Sep. 2015, pp. 2666-2671. https://doi.org/10.1109/IROS.2015.7353741
M. Bennewitz, W. Burgard, and S. Thrun, "Learning motion patterns of persons for mobile service robots," in Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), Washington, DC, USA, May 2002, vol. 4, pp. 3601-3606 vol.4.
D. Vasquez and T. Fraichard, "Motion prediction for moving objects: a statistical approach," in IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, New Orleans, LA, USA, Apr. 2004, vol. 4, pp. 3931-3936 Vol.4. https://doi.org/10.1109/ROBOT.2004.1308883
S. Kim et al., "BRVO: Predicting pedestrian trajectories using velocity-space reasoning," The International Journal of Robotics Research, vol. 34, no. 2, pp. 201-217, Feb. 2015. https://doi.org/10.1177/0278364914555543
A. Bera, S. Kim, T. Randhavane, S. Pratapa, and D. Manocha, "GLMP- realtime pedestrian path prediction using global and local movement patterns," in 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016, pp. 5528-5535. https://doi.org/10.1109/ICRA.2016.7487768
P. Fiorini and Z. Shiller, "Motion Planning in Dynamic Environments Using Velocity Obstacles," The International Journal of Robotics Research, vol. 17, no. 7, pp. 760-772, Jul. 1998. https://doi.org/10.1177/027836499801700706
Z. Shiller, F. Large, and S. Sekhavat, "Motion planning in dynamic environments: obstacles moving along arbitrary trajectories," in Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), Seoul, South Korea, May 2001, vol. 4, pp. 3716-3721 vol.4.
D. Wilkie, J. van den Berg, and D. Manocha, "Generalized velocity obstacles," in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA, Oct. 2009, pp. 5573-5578. https://doi.org/10.1109/IROS.2009.5354175
J. van den Berg, J. Snape, S. J. Guy, and D. Manocha, "Reciprocal collision avoidance with acceleration-velocity obstacles," in 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011, pp. 3475-3482. https://doi.org/10.1109/ICRA.2011.5980408
K. M. Zuhaib et al., "Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior," Applied Sciences, vol. 7, no. 9, p. 903, Sep. 2017. https://doi.org/10.3390/app7090903
D. R. Pawar and P. Poddar, "Car Black Box with Speed Control in Desired Areas for Collision Avoidance," Engineering, Technology & Applied Science Research, vol. 2, no. 5, pp. 281-284, Oct. 2012. https://doi.org/10.48084/etasr.194
M. B. Ayed, L. Zouari, and M. Abid, "Software In the Loop Simulation for Robot Manipulators," Engineering, Technology & Applied Science Research, vol. 7, no. 5, pp. 2017-2021, Oct. 2017. https://doi.org/10.48084/etasr.1285
R. A. Finkel and J. L. Bentley, "Quad trees a data structure for retrieval on composite keys," Acta Informatica, vol. 4, no. 1, pp. 1-9, Mar. 1974. https://doi.org/10.1007/BF00288933
How to Cite
MetricsAbstract Views: 268
PDF Downloads: 161
Copyright (c) 2021 Authors
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors who publish with this journal agree to the following terms:
- Authors retain the copyright and grant the journal the right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) after its publication in ETASR with an acknowledgement of its initial publication in this journal.