Real-Time Safe Navigation in Crowded Dynamic Environments Using Generalized Velocity Obstacles

Abstract

This paper aims at developing a real-time, robust, and reliable navigation method for an omnidirectional robot, the so-called MRL-SSL RoboCup robot, can be used in crowded dynamically-changing environments. To this end, a local motion planner will be introduced which combining the Generalized Velocity Obstacles (GVO) notion and a heuristic approach for determining the time horizon such that the inevitable collision states can successfully be avoided. The proposed method considers not only the kinematics of the robot but also its dynamics. Moreover, it could be extended to a wide range of practical path planning problems containing uncertainties. Finally, in order to demonstrate the performance and effectiveness of the proposed motion planner for the omnimobile robots, some practical scenarios are simulated.