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Development of an optimal velocity selection method with velocity obstacle

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Abstract

The Velocity obstacle (VO) method is one of the most well-known methods for local path planning, allowing consideration of dynamic obstacles and unexpected obstacles. Typical VO methods separate a velocity map into a collision area and a collision-free area. A robot can avoid collisions by selecting its velocity from within the collision-free area. However, if there are numerous obstacles near a robot, the robot will have very few velocity candidates. In this paper, a method for choosing optimal velocity components using the concept of pass-time and vertical clearance is proposed for the efficient movement of a robot. The pass-time is the time required for a robot to pass by an obstacle. By generating a latticized available velocity map for a robot, each velocity component can be evaluated using a cost function that considers the pass-time and other aspects. From the output of the cost function, even a velocity component that will cause a collision in the future can be chosen as a final velocity if the pass-time is sufficiently long enough.

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Authors and Affiliations

  1. Mechanical Engineering, Korea Advanced Institute of Sci. & Tech., 291 Daehak-ro, Yuseong-gu, Daejeon, 305-701, Korea

    Mingeuk Kim & JunHo Oh

Authors
  1. Mingeuk Kim
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  2. JunHo Oh
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Corresponding author

Correspondence to JunHo Oh.

Additional information

Recommended by Associate Editor Kyoungchul Kong

Mingeuk Kim received his B.S. and M.S. degrees in Mechanical Engineering from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea, in 2008 and 2010, respectively. He is currently a graduate student in the Ph.D. course in the Department of Mechanical Engineering, KAIST. His research interests include the control of rapid mobile robots and the navigation of mobile robots.

Jun-Ho Oh received his B.S. and M.S. degrees in Mechanical Engineering from Yonsei University, Seoul, South Korea, and his Ph.D. degree in Mechanical Engineering from the University of California, Berkeley, in 1977, 1979 and 1985, respectively. Since 1985, he has been with the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), where he is currently a vice president of KAIST and a Professor and a Director of the Humanoid Robot Research Center. His research interests include humanoid robots, sensors, actuators and applications of microprocessors. He is a member of the IEEE, KSME, KSPE, and ICROS.

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Kim, M., Oh, J. Development of an optimal velocity selection method with velocity obstacle. J Mech Sci Technol 29, 3475–3487 (2015). https://doi.org/10.1007/s12206-015-0746-1

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  • DOI: https://doi.org/10.1007/s12206-015-0746-1

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