Motion Planning in Dynamic Environments Using Velocity Obstacles¶
Authors: Paolo Fiorini, Zvi Shiller
Published: 1998 (Journal Paper)
Source: The International Journal of Robotics Research
Algorithm: Velocity Obstacles
DOI: 10.1177/027836499801700706
Summary¶
Introduces the velocity obstacle (VO) concept: a set of velocities in velocity space that would lead to collision with a moving obstacle. The robot plans collision-free motion by selecting velocities outside all VOs, filtered through its acceleration limits. The foundational paper for VO-based collision avoidance, spawning the RVO and ORCA family of methods.
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Tags¶
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Motion planning
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Velocity obstacles
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Dynamic environments
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Collision avoidance
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Robot navigation
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Moving obstacles