DMCA
Safe Motion Planning in Dynamic Environments (2005)
| Venue: | in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS |
| Citations: | 77 - 7 self |
BibTeX
@INPROCEEDINGS{Petti05safemotion,
author = {Stephane Petti and Thierry Fraichard and Inria Rocquencourt and Ecole Des Mines De Paris},
title = {Safe Motion Planning in Dynamic Environments},
booktitle = {in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS},
year = {2005},
pages = {3726--3731}
}
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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.
Keyphrases
dynamic environment safe motion planning safety issue motion planning scheme motion planning limited time inevitable collision state anytime flavor car-like system real situation moving obstacle ics-free partial motion partial motion planning complete motion real-time constraint reactive navigation scheme critical situation system safety inevitable collision partial motion intrinsic complexity
