Hybrid Dynamic Moving Obstacle Avoidance Using a Stochastic Reachable Set-Based Potential Field

摘要

One of the primary challenges for autonomous robotics in uncertain and dynamic environments is planning and executing a collision-free path. Hybrid dynamic obstacles present an even greater challenge as the obstacles can change dynamics without warning and potentially invalidate paths. Artificial potential field (APF)-based techniques have shown great promise in successful path planning in highly dynamic environments due to their low cost at runtime. We utilize the APF framework for runtime planning but leverage a formal validation method, Stochastic Reachable (SR) sets, to generate accurate potential fields for moving obstacles. A small number of SR sets are computed a priori, then used to generate a potential field that represents the obstacle's stochastic motion for online path planning. Our method is novel and scales well with the number of obstacles, maintaining a relatively high probability of reaching the goal without collision, as compared to other traditional Gaussian APF methods. Here, we demonstrate our method with up to 900 hybrid dynamic obstacles and show that it outperforms the traditional Gaussian APF method by up to 60% in the holonomic case and up to 20% in the unicycle case.