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ThinkMind // International Journal On Advances in Software, volume 11, numbers 3 and 4, 2018 // View article soft_v11_n34_2018_12


Visibility Velocity Obstacles (VVO): Visibility-Based Path Planning in 3D Environments

Authors:
Oren Gal
Yerach Doytsher

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

Abstract:
In this paper, we present as far as we know for the first time, 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 stage, 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 future robot's velocity at each time step, tracking after specific target considering visibility constraints as 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. For the first time, we define visibility aspects as part of velocity space, where all the objects are modeled from visibility point of view. We introduce potential trajectory planner combining unified 3D visibility analysis for target tracking as part of dynamic motion planning.

Pages: 347 to 357

Copyright: Copyright (c) to authors, 2018. Used with permission.

Publication date: December 30, 2018

Published in: journal

ISSN: 1942-2628

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