Section: New Results

Motion Planning among Highly Dynamic Obstacles

Participants : Pierre de Beaucorps, Anne Verroust-Blondet, Renaud Poncelet, Fawzi Nashashibi.

Motion planning in a dynamic environment is of great importance in many robotics applications. In the context of an autonomous mobile robot, it requires computing a collision-free path from a start to a goal among moving and static obstacles. We have introduced a framework to integrate into a motion planning method the interaction zones of a moving robot with its future surroundings, the reachable interaction sets (RIS). It can handle highly dynamic scenarios when combined with path planning methods optimized for quasi-static environments. It has been integrated with an artificial potential field reactive method and with a Bézier curve path planning. Experimental evaluations show that this approach significantly improves dynamic path planning methods, especially when the speeds of the obstacles are higher than the one of the robot (cf. [32] for more detail). This work has been partially funded by Valeo.