Avoidance of obstacles with unknown trajectories: locally optimal paths and path complexity, Part I

Abstract

SUMMARY We consider the problem of moving a point robot through a two dimensional workspace containing polygonal obstacles moving on unknown trajectories. We propose to use sensor information to predict the trajectories of the obstacles, and interleave path planning and execution. In this paper, we present preliminary work in which we propose our basic algorithm and define a locally minimum velocity path as an optimal robot trajectory, given only local information about obstacle trajectories. In the sequel (part II) to this paper we will show that the complexity of a path planning problem can be characterized by how frequently the robot must change directions to approximate the locally minimum velocity path.