TY - GEN
T1 - A framework for planning motion in environments with moving obstacles
AU - Rodriguez, Samuel
AU - Lien, Jyh Ming
AU - Amato, Nancy M.
PY - 2007
Y1 - 2007
N2 - In this paper we present a heuristic approach to planning in an environment with moving obstacles. Our approach assumes that the robot has no knowledge of the future trajectory of the moving objects. Our framework also distinguishes between two types of moving objects in the environment: hard and soft objects. We distinguish between the two types of objects in the environment as varying application domains could allow for some collision between some types of moving objects. For example, a robot planning a path in an environment with people could have the people modeled as circular disks with a safe zone surrounding each person. Although the robot may try to stay out of each safe zone, violating that criteria would not necessarily result in planning failure. We will show the effectiveness of our planner in general dynamic environments with the soft objects having varying behaviors.
AB - In this paper we present a heuristic approach to planning in an environment with moving obstacles. Our approach assumes that the robot has no knowledge of the future trajectory of the moving objects. Our framework also distinguishes between two types of moving objects in the environment: hard and soft objects. We distinguish between the two types of objects in the environment as varying application domains could allow for some collision between some types of moving objects. For example, a robot planning a path in an environment with people could have the people modeled as circular disks with a safe zone surrounding each person. Although the robot may try to stay out of each safe zone, violating that criteria would not necessarily result in planning failure. We will show the effectiveness of our planner in general dynamic environments with the soft objects having varying behaviors.
UR - http://www.scopus.com/inward/record.url?scp=51349093336&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349093336&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399540
DO - 10.1109/IROS.2007.4399540
M3 - Conference contribution
AN - SCOPUS:51349093336
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3309
EP - 3314
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -