Extending Reactive Collision Avoidance Methods to Consider any Vehicle Shape and the Kinematics and Dynamic Constraints

Many collision avoidance methods do not consider the vehicle shape and its kinematic and dynamic constraints, assuming a point-like and omnidirectional robot without acceleration constraints. The contribution of this paper is a methodology to consider the exact shape and kinematics as well as the effects of the dynamics in the collision avoidance layer, although the original avoidance method at hand does not address them. This is achieved by abstracting these constraints from the avoidance methods in such a way that when the method is applied, the constraints have been already taken into account. This work is a starting point to extend the domain of applicability of a wide range of collision avoidance methods.