RIS : A Framework for Motion Planning among Highly Dynamic Obstacles

Abstract : We present here a framework to integrate into a motion planning method the interaction zones of a moving robot with its future surroundings, the reachable interaction sets. It can handle highly dynamic scenarios when combined with path planning methods optimized for quasi-static environments. As a demonstrator, it is integrated here 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. The presented approach is used together with a global planning approach in order to handle complex static environments in presence of fast-moving obstacles. When the ego vehicle is not holonomic the presented approach is able to take dynamic constraints into account, which improve the prediction accuracy.
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https://hal.inria.fr/hal-01903318
Contributor : Pierre de Beaucorps <>
Submitted on : Wednesday, October 24, 2018 - 11:43:47 AM
Last modification on : Monday, November 12, 2018 - 3:32:35 PM
Long-term archiving on : Friday, January 25, 2019 - 1:47:24 PM

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Pierre de Beaucorps, Anne Verroust-Blondet, Renaud Poncelet, Fawzi Nashashibi. RIS : A Framework for Motion Planning among Highly Dynamic Obstacles. ICARCV 2018 - 15th International Conference on Control, Automation, Robotics and Vision, Nov 2018, Singapour, Singapore. ⟨hal-01903318⟩

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