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Obstacle Avoidance in a Dynamic Environment: A Collision Cone Approach

Chakravarthy, Animesh and Ghose, Debasish (1998) Obstacle Avoidance in a Dynamic Environment: A Collision Cone Approach. In: IEEE Transactions on Systems, Man and Cybernetics-Part A: Systems and Humans, 28 (5). pp. 562-574.


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A novel collision cone approach is proposed as an aid to collision detection and avoidance between irregularly shaped moving objects with unknown trajectories. It is shown that the collision cone can be effectively used to determine whether collision between a robot and an obstacle (both moving in a dynamic environment) is imminent. No restrictions are placed on the shapes of either the robot or the obstacle, i.e., they can both be of any arbitrary shape. The collision cone concept is developed in a phased manner starting from existing analytical results-available in aerospace literature-that enable prediction of collision between two moving point objects. These results are extended to predict collision between a point and a circular object, between a point and an irregularly shaped object, between two circular objects, and finally between two irregularly shaped objects. Using the collision cone approach, several strategies that the robot can follow in order to avoid collision, are presented. A discussion on how the shapes of the robot and obstacles can be approximated in order to reduce computational burden is also presented. A number of examples are given to illustrate both collision prediction and avoidance strategies of the robot.

Item Type: Journal Article
Publication: IEEE Transactions on Systems, Man and Cybernetics-Part A: Systems and Humans
Publisher: IEEE
Additional Information: ©1998 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Keywords: Collision cone;Dynamic environments;Obstacle avoidance;Path planning
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 25 Aug 2008
Last Modified: 19 Sep 2010 04:15
URI: http://eprints.iisc.ac.in/id/eprint/1415

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