Home // GEOProcessing 2018, The Tenth International Conference on Advanced Geographic Information Systems, Applications, and Services // View article

Motion Planning in 3D Environments Using Visibility Velocity Obstacles

Authors:
Oren Gal
Yerach Doytsher

Keywords: Visibility; Motion planning, 3D; Urban environment; Spatial analysis.

Abstract:
In this paper, we present a unique method combining visibility analysis in 3D environments with dynamic motion planning algorithm, named Visibility Velocity Obstacles (VVO). Our method is based on two major steps. The first step is based on analytic visibility boundaries calculation in 3D environments, taking into account sensors' capabilities including probabilistic consideration. In the second step, we generate VVO transferring visibility boundaries from the position space to the velocity space, for each object. Each VVO represents velocity's set of possible future collision and visibility boundaries. Based on our analysis in velocity space, we plan our trajectory by selecting robot's future velocity at each time step, tracking each specific target by considering visibility constraints as an integral part of the velocities space. We formulate the tracked target in the environment as part of our planner and include visibility analysis for the next time step as part of our planning in the same search space. We define visibility aspects as part of velocity space, where all the objects are modeled from the visibility point of view. We introduce a potential trajectory planner combining unified 3D visibility analysis for target tracking as part of dynamic motion planning.

Pages: 60 to 65

Copyright: Copyright (c) IARIA, 2018

Publication date: March 25, 2018

Published in: conference

ISSN: 2308-393X

ISBN: 978-1-61208-617-0

Location: Rome, Italy

Dates: from March 25, 2018 to March 29, 2018