Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Zuhaib, Khalil Muhammad | - |
dc.contributor.author | Khan, Abdul Manan | - |
dc.contributor.author | Iqbal, Junaid | - |
dc.contributor.author | Ali, Mian Ashfaq | - |
dc.contributor.author | Usman, Muhammad | - |
dc.contributor.author | Ali, Ahmad | - |
dc.contributor.author | Yaqub, Sheraz | - |
dc.contributor.author | Lee, Ji Yeong | - |
dc.contributor.author | Han, Changsoo | - |
dc.date.accessioned | 2021-06-22T13:43:15Z | - |
dc.date.available | 2021-06-22T13:43:15Z | - |
dc.date.created | 2021-01-21 | - |
dc.date.issued | 2017-09 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/9042 | - |
dc.description.abstract | Navigating a robot in a dynamic environment is a challenging task, especially when the behavior of other agents such as pedestrians, is only partially predictable. Also, the kinodynamic constraints on robot motion add an extra challenge. This paper proposes a novel navigational strategy for collision avoidance of a kinodynamically constrained robot from multiple moving passive agents with partially predictable behavior. Specifically, this paper presents a new approach to identify the set of control inputs to the robot, named control obstacle, which leads it towards a collision with a passive agent moving along an arbitrary path. The proposed method is developed by generalizing the concept of nonlinear velocity obstacle (NLVO), which is used to avoid collision with a passive agent, and takes into account the kinodynamic constraints on robot motion. Further, it formulates the navigational problem as an optimization problem, which allows the robot to make a safe decision in the presence of various sources of unmodelled uncertainties. Finally, the performance of the algorithm is evaluated for different parameters and is compared to existing velocity obstacle-based approaches. The simulated experiments show the excellent performance of the proposed approach in term of computation time and success rate. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | MDPI | - |
dc.title | Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Lee, Ji Yeong | - |
dc.identifier.doi | 10.3390/app7090903 | - |
dc.identifier.scopusid | 2-s2.0-85028820299 | - |
dc.identifier.wosid | 000414453600039 | - |
dc.identifier.bibliographicCitation | Applied Sciences-basel, v.7, no.9, pp.1 - 18 | - |
dc.relation.isPartOf | Applied Sciences-basel | - |
dc.citation.title | Applied Sciences-basel | - |
dc.citation.volume | 7 | - |
dc.citation.number | 9 | - |
dc.citation.startPage | 1 | - |
dc.citation.endPage | 18 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | Y | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Chemistry | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Materials Science | - |
dc.relation.journalResearchArea | Physics | - |
dc.relation.journalWebOfScienceCategory | Chemistry, Multidisciplinary | - |
dc.relation.journalWebOfScienceCategory | Engineering, Multidisciplinary | - |
dc.relation.journalWebOfScienceCategory | Materials Science, Multidisciplinary | - |
dc.relation.journalWebOfScienceCategory | Physics, Applied | - |
dc.subject.keywordPlus | DYNAMIC ENVIRONMENTS | - |
dc.subject.keywordPlus | MOTION | - |
dc.subject.keywordAuthor | collision avoidance | - |
dc.subject.keywordAuthor | multiple passive agents | - |
dc.subject.keywordAuthor | Mobile Robot Navigation | - |
dc.subject.keywordAuthor | pedestrian environment | - |
dc.subject.keywordAuthor | kinodynamic planning | - |
dc.subject.keywordAuthor | velocity obstacle | - |
dc.identifier.url | https://www.mdpi.com/2076-3417/7/9/903 | - |
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