An algorithm with real-time response for avoiding moving obstacles

Abstract

A method is presented for modeling the trajectories of a robot and obstacles in three spaces (x, y, and time) such that potential collisions can be detected in a direct manner; no a priori knowledge of the obstacle's trajectory is required. Having determined that a collision will occur, a method for avoiding such collisions by altering the time and space trajectory for the robot is presented. The modeling has been intentionally designed to be succinct enough that the collision avoidance algorithm can run in real-time, thus making it suitable for inclusion as part of a robot navigation system for a real mobile robot. Results of simulations are presented and discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>