Vector Field-based Collision Avoidance for Moving Obstacles with Time-Varying Elliptical Shape

TL;DR

This paper introduces a vector field-based local motion planning algorithm for navigating agents around moving elliptical obstacles with time-varying shapes, velocities, and sizes, ensuring safe and efficient collision avoidance.

Contribution

The paper proposes a novel collision avoidance vector field method capable of handling multiple moving elliptical obstacles with dynamic properties in bounded environments.

Findings

Effective in 2D and 3D simulations

Handles multiple moving obstacles with changing shapes

Ensures safe navigation with control input limitations

Abstract

This paper presents an algorithm for local motion planning in environments populated by moving elliptical obstacles whose velocity, shape and size are fully known but may change with time. We base the algorithm on a collision avoidance vector field (CAVF) that aims to steer an agent to a desired final state whose motion is described by a double integrator kinematic model. In addition to handling multiple obstacles, the method is applicable in bounded environments for more realistic applications (e.g., motion planning inside a building). We also incorporate a method to deal with agents whose control input is limited so that they safely navigate around the obstacles. To showcase our approach, extensive simulations results are presented in 2D and 3D scenarios.