Reactive collision avoidance for navigation with dynamic constraints

摘要

We address the problem of applying reactive navigation methods for collision avoidance to systems where the dynamics cannot be neglected: mobile robots with slow dynamic capabilities, or systems working at high speeds. Rather than embedding the motion constraints when designing a navigation method, we propose to introduce the robot dynamic constraints directly into the spatial representation. In this space the dynamic capabilities of the robot are implicitly represented. With minor modifications, standard reactive navigation methods can be used in this space implicitly taking into account the robot dynamic constraints. To validate this framework, we show experimental results using two reactive navigation methods whose original formulation do not take the robot dynamic constraints into account (the nearness diagram navigation and the potential field method).