In this paper we discuss the problem of planning safe paths amidst unpredictably moving obstacles in the plane. Given the initial positions and the maximum speeds of the moving obstacles, which we assume are disk-shaped, the regions that are possibly not collision-free are disks that grow over time. We present an approach to compute the time-minimal path between two points in the plane that avo...

| This paper addresses motion planning for a car-like robot moving in a changing planar workspace, i.e. with moving obstacles. First, this motion planning problem is formulated in the state-time space framework. The state-time space of a robot is its state space plus the time dimension. In this framework part of the constraints at hand are translated into static forbidden regions of state-time ...

Road obstacles cause serious accidents that have a severe impact on driver safety, traffic flow efficiency and damage of the vehicle. Detecting obstacles are important to prevent or to reduce such kind of the accidents and fatalities. However, it is difficult and becomes tricky because of some problems like presence of shadow, environmental changes or a sudden action of any moving things (e.g.,...

This paper generalizes the concept of velocity obstacles [3] to obstacles moving along arbitrary trajectories. We introduce the non-linear velocity obstacle, which takes into account the shape, velocity and path curvature of the moving obstacle. The non-linear v-obstacle allows selecting a single avoidance maneuver (if one exists) that avoids any number of obstacles moving on any known trajecto...