Trajectory regeneration considering velocity of dynamic obstacles using the nonlinear velocity obstacles

Chang Bae Moon, Woo Jin Chung

Research output: Contribution to journalArticlepeer-review


To achieve safe and high-speed navigation of a mobile service robot, velocity of dynamic obstacles should be considered while planning the trajectory of a mobile robot. Trajectory planning schemes without considering the velocity of the dynamic obstacles may collide due to the relative velocities or dynamic constraints. However, the general planning schemes that considers the dynamic obstacle velocities requires long computational times. This paper proposes a velocity control scheme by scaling the time step of trajectory to deal with dynamic obstacle avoidance problem using the RNLVO (Robot Nonlinear Velocity Obstacles). The RNLVO computes the collision conditions on the basis of the NLVO (Nonlinear Velocity Obstacles). The simulation results show that the proposed scheme can deal with collision state in a short period time. Furthermore, the RNLVO computes the collisions using the trajectory of the robot. As a result, accurate prediction of the moving obstacles trajectory does not required.

Original languageEnglish
Pages (from-to)1193-1199
Number of pages7
JournalTransactions of the Korean Society of Mechanical Engineers, A
Issue number11
Publication statusPublished - 2014

Bibliographical note

Publisher Copyright:
© 2014 The Korean Society of Mechanical Engineers.


  • Mobile robot
  • Navigation
  • Obstacle avoidance
  • Trajectory regeneration

ASJC Scopus subject areas

  • Mechanical Engineering


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