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.
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ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 17–20, 2014
Buffalo, New York, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-4637-7
PROCEEDINGS PAPER
Real-Time Safe Navigation in Crowded Dynamic Environments Using Generalized Velocity Obstacles
Mostafa Mahmoodi,
Mostafa Mahmoodi
Islamic Azad University, Qazvin, Iran
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Khalil Alipour,
Khalil Alipour
University of Tehran, Tehran, Iran
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Mehdi Tale Masouleh,
Mehdi Tale Masouleh
University of Tehran, Tehran, Iran
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Hadi Beik Mohammadi
Hadi Beik Mohammadi
Islamic Azad University, Qazvin, Iran
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Mostafa Mahmoodi
Islamic Azad University, Qazvin, Iran
Khalil Alipour
University of Tehran, Tehran, Iran
Mehdi Tale Masouleh
University of Tehran, Tehran, Iran
Hadi Beik Mohammadi
Islamic Azad University, Qazvin, Iran
Paper No:
DETC2014-35036, V05BT08A060; 10 pages
Published Online:
January 13, 2015
Citation
Mahmoodi, M, Alipour, K, Masouleh, MT, & Mohammadi, HB. "Real-Time Safe Navigation in Crowded Dynamic Environments Using Generalized Velocity Obstacles." Proceedings of the ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5B: 38th Mechanisms and Robotics Conference. Buffalo, New York, USA. August 17–20, 2014. V05BT08A060. ASME. https://doi.org/10.1115/DETC2014-35036
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