Collision Avoidance of a Kinodynamically Constrained System from Passive Agents

Robot motion planning in dynamic environments is significantly difficult, especially when the future trajectories of obstacles are only predictable over a short time interval and can change frequently. Moreover, robot’s kinodynamic constraints make task more challenging. This paper proposes novel collision avoidance scheme for navigating kinodynamically constrained robot among multiple passive agents with partially behavior. For this purpose, presents new approach that maps on as geometrical bounds its control space. was achieved by extending concept nonlinear velocity to incorporate constraints. The proposed bounded space used design strategy car-like employing predict-plan-act framework. results simulated experiments demonstrate effectiveness algorithm compared existing obstacle based approaches.