Trajectory Planning In Time-Varying Environments, 1: TPP = PPP + VPP

Karnal Kant; Steven Zucker

doi:10.1117/12.946184

17 January 1985 Trajectory Planning In Time-Varying Environments, 1: TPP = PPP + VPP

Karnal Kant, Steven Zucker

Proceedings Volume 0521, Intelligent Robots and Computer Vision; (1985) https://doi.org/10.1117/12.946184
Event: 1984 Cambridge Symposium, 1984, Cambridge, United States

Abstract

In this paper, we present a novel approach to solving the trajectory planning problem (TPP) in time-varying environments. The essence of our approach lies in a decom-position of the TPP into two sub-problems: (i) planning the path to avoid collision with the static obstacles, and then (ii) planning the velocity along the path to avoid collision with the moving obstacles. We call the first sub-problem, the path planning problem (PPP), and the second, the velocity plan-ning problem (VPP). Thus, our decomposition is summarized by the equation TPP = PPP VPP. We use a variation of an existing approach to solve the PPP. Furthermore, we transform the VPP to a 2-dimensional PPP in path-time space. The resulting 2-dimensional PPP is then solved to determine the collision-free velociy profile.

Citation Download Citation

Karnal Kant and Steven Zucker "Trajectory Planning In Time-Varying Environments, 1: TPP = PPP + VPP", Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985); https://doi.org/10.1117/12.946184

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