Novel Motion Planning Method for Mobile Robots Using Velocity Obstacle

摘要

The main concept of this article is to introduce a cost function based algorithm for the reactive motion planning problem of mobile robots. With the usage of the cost function, different strategies can be combined. Next to speed and safety, several aspects can play a role in the motion. i.e. Traffic Regulation rules or lane-keeping. The different methods can be used separately as well, but the combination of methods provides an appropriate solution. The introduced reactive motion planning algorithm generates a collision-free solution for the agent in dynamic environment.