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Appl. Sci. 2017, 7(9), 903; doi:10.3390/app7090903

Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior

1
Department of Mechatronics Engineering, Hanyang University ERICA Campus, Ansan 15588, Korea
2
Department of Robot Engineering, Hanyang University ERICA Campus, Ansan 15588, Korea
3
School of Mechanical and Manufacturing Engineering (SMME), National University of Science and Techonology (NUST), Islamabad 44000, Pakistan
*
Author to whom correspondence should be addressed.
Received: 14 July 2017 / Revised: 21 August 2017 / Accepted: 30 August 2017 / Published: 4 September 2017
(This article belongs to the Special Issue Multi-Agent Systems)
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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. View Full-Text
Keywords: collision avoidance; multiple passive agents; Mobile Robot Navigation; pedestrian environment; kinodynamic planning; velocity obstacle collision avoidance; multiple passive agents; Mobile Robot Navigation; pedestrian environment; kinodynamic planning; velocity obstacle
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Zuhaib, K.M.; Khan, A.M.; Iqbal, J.; Ali, M.A.; Usman, M.; Ali, A.; Yaqub, S.; Lee, J.Y.; Han, C. Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior. Appl. Sci. 2017, 7, 903.

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