The Worldwide Journal of Robotics Analysis, Forward of Print.
On this paper, a novel optimum movement planning framework that allows navigating optimally from any preliminary, to any closing place inside confined workspaces with convex, transferring obstacles is introduced. Our methodology outputs a easy velocity vector discipline, which is then employed as a reference controller with a view to sub-optimally keep away from transferring obstacles. The proposed strategy leverages and extends fascinating properties of reactive strategies with a view to present a provably convergent and secure resolution. Our algorithm is evaluated with each static and transferring obstacles in artificial environments and is in contrast in opposition to quite a lot of present strategies. The efficacy and applicability of the proposed scheme is lastly validated in a high-fidelity simulation surroundings.
发布者：Panagiotis Rousseas，转转请注明出处：https://robotalks.cn/reactive-optimal-motion-planning-to-anywhere-in-the-presence-of-moving-obstacles/
