EE631 Cooperating Autonomous Mobile

Robots

Lecture 5: Collision Avoidance in Dynamic

Environments

Prof. Yi Guo
ECE Dept.
Plan

 A Collision Avoidance Algorithm

 A Global Motion Planning Scheme
 Nonholonomic Kinematic Model

Coordinate
transformation
Chained form (after transformation):
and input mapping
(, are within
(-/2,/2)):
Assumptions: The Robot
 2-dimensional circle with radius R
 Knowing its start and goal positions
 Onboard sensors detecting dynamic obstacles
 Assumptions: The Environment
 2D environment with static
and dynamic obstacles
 Pre-defined map with static
obstacle locations known
 Dynamic obstacles
represented by circles with
radius ri
 Problem Formulation: Trajectory
Planning

Find feasible trajectories for the robot, enrouting from its

start position to its goal, without collisions with static and
dynamic obstacles.
 Feasible Trajectory in Free Space
 A family of feasible trajectories:

 Boundary conditions
 In original coordinate:

 In transformed coordinate:
 Parameterized Feasible Trajectory
 Imposing boundary conditions, parameterization of the
trajectory in terms of a6:

 A, B, Y are constant matrices calculated from boundary

conditions
 a6 increases the freedom of maneuver accounting for geometric
constrains posed by dynamic obstacles
Steering Paradigm

 Polynomial steering:

 Assume T is the time that takes the robot to get to qf

from q0. Choose

then
 A quick summary
 System model: chained form
 Feasible trajectories: closed form parameterization
 Steering control: closed form, piecewise constant
solution (polynomial steering)

 Next: Collision avoidance -- explicit condition based

on geometry and time
Dynamic Collision Avoidance Criteria

Time + space collision

 Dynamic Collision Avoidance Criteria

 Time criterion:
 Assume obstacle moves at constant velocity during sampling
period t [t0  kTs , t0  (k  1)Ts )
 In original coordinate:

 In transformed coordinate :
 Dynamic Collision Avoidance Criteria

 Geometry criterion:
 In original coordinate:

 In transformed coordinate:

Mapping from x-y plane to z1-z4 plane

indicates collision region within a circle of
radius ri+R+l/2, since
Dynamic Collision Avoidance Criteria
 Time criterion + geometrical criterion + path
parameterization

 g2, g1i, g0i are analytic functions of their arguments and can be
calculated real time
 a6k exists if g2>0
 g2>0 holds for every points except boundary points
Global Path Planning Using D* Search

Robot path

Goal

Static obstacles

Start

A shortest path returned by D* in 2D environment

Cost function: f pp = r + d (d is distance, r is penalty on obstacles)
Global Motion
Planning

Algorithm flow chart

Simulations

Feasible trajectory

Goal

Static obstacles

Start

In 2D environment with static obstacles (a6=0)

Collision Trajectory
Moving obstacles
Robot

Static obstacles

– Circles are drawn with 5 second spacing

– Onboard sensors detect:
 obstacle 1: center [23,15], velocity [0.1,0.2]
 obstacle 2: center [45,20], velocity [-0.1,-0.1]
– Collisions occurs
Global Collision–Free Trajectory

Moving obstacles
Robot

Static obstacles

a61=9.4086*10-6, a62=4.9973*10-6
Global Collision–Free Trajectory
Moving obstacles
Robot

Static obstacles

 Moving obstacle changes velocity:

 Original velocity [-0.15,-0.1], new velocity [0.15,-0.29]
 Calculated a62=9.4086*10-6, a62=4.9973*10-6
Readings:

 Laumond book Chapter 1

 “A new analytical solution to mobile robot trajectory
generation in the presence of moving obstacles”, by
Zhihua Qu, Jing Wang, Plaisted, C.E., IEEE
Transactions on Robotics, Volume 20, Issue 6, Dec.
2004 Page(s):978 - 993