Share Email Print

Proceedings Paper

Trajectory Planning In Time-Varying Environments, 1: TPP = PPP + VPP
Author(s): Karnal Kant; Steven Zucker
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper 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.

Paper Details

Date Published: 17 January 1985
PDF: 8 pages
Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985); doi: 10.1117/12.946184
Show Author Affiliations
Karnal Kant, McGill University (Canada)
Steven Zucker, McGill University (Canada)

Published in SPIE Proceedings Vol. 0521:
Intelligent Robots and Computer Vision
David P. Casasent; Ernest L. Hall, Editor(s)

© SPIE. Terms of Use
Back to Top