论文标题
基于矢量场的避免碰撞，以带有时变椭圆形的移动障碍物
Vector Field-based Collision Avoidance for Moving Obstacles with Time-Varying Elliptical Shape
论文作者
论文摘要
本文为通过移动椭圆障碍物的环境中的局部运动计划提供了一种算法，其速度，形状和大小是完全已知但可能会随着时间而变化的。我们将算法基于碰撞避免矢量场（CAVF），该算法旨在将代理引导到所需的最终状态，该状态由双重整合器运动器模型描述。除了处理多个障碍外，该方法还适用于有界环境中的更现实的应用程序（例如，建筑物内的运动计划）。我们还结合了一种与控制输入受到限制的代理商打交道的方法，以便他们安全地绕过障碍。为了展示我们的方法，在2D和3D方案中介绍了广泛的仿真结果。
This paper presents an algorithm for local motion planning in environments populated by moving elliptical obstacles whose velocity, shape and size are fully known but may change with time. We base the algorithm on a collision avoidance vector field (CAVF) that aims to steer an agent to a desired final state whose motion is described by a double integrator kinematic model. In addition to handling multiple obstacles, the method is applicable in bounded environments for more realistic applications (e.g., motion planning inside a building). We also incorporate a method to deal with agents whose control input is limited so that they safely navigate around the obstacles. To showcase our approach, extensive simulations results are presented in 2D and 3D scenarios.
