Dynamic Collision-avoidance Planning of Mobile Robot Based on Velocity Change Space

The dynamic avoiding collision with moving obstacles of mobile robot is studied. For the existing problems of the previous velocity obstacle methods used for dynamic collision-avoidance,corresponding improvement methods are worked out. The velocity changes of obstacles,collision distance and collision time are considered synthetically. In the velocity change space,a new evaluation function based on collision-avoidance behavior dynamics is designed for the dynamic collision-avoidance planning using two obstacle finding windows. Simulation experiments show that the proposed methods effectively overcome conservativeness of collision-avoidance planning,improve motion security of robot,and can be implemented to pursue the moving goal in time.