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JRM Vol.30 No.3 pp. 485-492
doi: 10.20965/jrm.2018.p0485
(2018)

Paper:

Motion Planning of Mobile Robots for Occluded Obstacles

Satoshi Hoshino and Tomoki Yoshikawa

Department of Mechanical and Intelligent Engineering, Utsunomiya University
7-1-2 Yoto, Utsunomiya, Tochigi 321-8585, Japan

Received:
November 1, 2017
Accepted:
March 26, 2018
Published:
June 20, 2018
Keywords:
motion planning, mobile robot navigation, velocity obstacle, occlusion problem
Abstract
Motion Planning of Mobile Robots for Occluded Obstacles

Occlusion problem between robot and humans

Motion planning of mobile robots for occluded obstacles is a challenge in dynamic environments. The occlusion problem states that if an obstacle suddenly appears from the occluded area, the robot might collide with the obstacle. To overcome this, we propose a novel motion planner, the Velocity Obstacle for occlusion (VOO). The VOO is based on a previous motion planner, the Velocity Obstacle (VO), which is effective for moving obstacles. In the proposed motion planner, information uncertainties about occluded obstacles, such as position, velocity, and moving direction, are quantitatively addressed. Thus, the robot based on the VOO is able to move not only among observed obstacles, but also among the occluded ones. Through simulation experiments, the effectiveness of the VOO for the occlusion problem is demonstrated by comparison with the VO.

Cite this article as:
S. Hoshino and T. Yoshikawa, “Motion Planning of Mobile Robots for Occluded Obstacles,” J. Robot. Mechatron., Vol.30, No.3, pp. 485-492, 2018.
Data files:
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Last updated on Nov. 16, 2018