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...t to take into account both the dynamics of the robotic system and the future behaviour of the moving obstacles. A number of research works have addressed these issues recently [9], [10], [11], [12], =-=[13]-=-. In this framework, the interest of the inevitable collision state concept is obvious. By design, inevitable collision states integrate both the dynamics of the robotic system and the obstacles, fixe...

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...d for a single point. A common approach used in robotics for performing this planning is to combine an approximate global planner with an accurate local planner �Kelly, 1995; Stentz and Hebert, 1995; =-=Brock & Khatib, 1999-=-; Singh et al., 2000�. The global planner computes paths through the grid that ignore the kinematic and dynamic constraints of the vehicle. Then, the local planner takes into account the constraints o...

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...n the set of local actions considered by the planner. To reduce the susceptibility to local minima of these approaches, algorithms were developed that incorporated global as well as local information =-=[4, 5, 6, 7]-=-. Typically, these approaches generate a set of candidate simple local actions and evaluate each based on both their local traversability cost and the desirability of their endpoints based on a global...

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...d by the planner. To reduce the susceptibility to local minima of these approaches, algorithms were developed that incorporated global as well as local information (Kelly 1995� Thrun and others 1998� =-=Brock and Khatib 1999-=-� Philippsen and Siegwart 2003). Typically, these approaches generate a set of candidate simple local actions and evaluate each based on both their local traversability cost and the desirability of th...

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...ve been demonstrated at relatively high speeds (up to 1.0 m/s) in complex environments. This approach has further been extended so as to consider additional information about connectivity to the goal =-=[13]-=-. From the motion safety point of view, DW is superior to ND in the sense that the kinematics and dynamics properties of the robotic system considered are explicitly taken into account. Safety criteri...

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...f the shortest (unobstructed) path to the goal [10]. Thus, they were able to eliminate the local minima problems present in so many obstacle avoidance schemes (hence the term “Global” in the title of =-=[2]-=-). The experimental results reported in [1] and [2] are excellent, showing consistent safe performance at speeds up to 1.0 m/s with a Nomadic Technologies XR4000 robot, [2]. The results demonstrate an...

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...n the environment. This section presents the principles of our obstacle avoidance module. 3.1. State of the art on reactive trajectory tracking Most of the approaches for obstacle avoidance are local =-=[11,5]-=-, that is they do not try to model the whole environment. Their goal is rather to use sensor measures to deduce secure commands. Being simpler and less computationally intensive, they seem more approp...

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...rated. For mobile robots the global dynamic window approach integrates planning and execution by incorporating an ecient global path planner into the control loop of a dynamics-based execution scheme =-=[3]-=-. This approach allows for highspeed navigation of a mobile base in an unknown and dynamic environment. In another approach to integrated planning and control a plan is converted into a trajectory usi...