Velocity Obstacle paradigm is one of the most popular and studied decentralized trajectory planning methods for multi-agent systems moving in dynamic environments. It has been successfully used in a multitude of real and simulated scenarios for the collision-free maneuver of ground or aerial mobile robots. In this paper we address the problem of adapting Velocity Obstacles to provide collision-free trajectories also for robotic manipulators with dynamic obstacles in their workspace. Simulation results show the effectiveness of the proposed approach.

Velocity Obstacle-based Trajectory Planner for Two-Link Planar Manipulators

Vesentini, Federico;Muradore, Riccardo
2021

Abstract

Velocity Obstacle paradigm is one of the most popular and studied decentralized trajectory planning methods for multi-agent systems moving in dynamic environments. It has been successfully used in a multitude of real and simulated scenarios for the collision-free maneuver of ground or aerial mobile robots. In this paper we address the problem of adapting Velocity Obstacles to provide collision-free trajectories also for robotic manipulators with dynamic obstacles in their workspace. Simulation results show the effectiveness of the proposed approach.
978-9-4638-4236-5
Robotics, Velocity obstacles, Path planning
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11562/1060617
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