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Study on optimal velocity selection using velocity obstacle (OVVO) in dynamic and crowded environment


The velocity obstacle (VO) method is one of local path generation method considering a velocity of obstacles. By dividing an available velocity region into collision and collision-free area, a robot can avoid collisions using the VO. However, if there are numerous obstacles near a robot, the robot will have very few velocity candidates. In this paper, a method to choose an optimal velocity by introducing a cost function about safety of the velocity, and the cost function consists of a pass-time and a clearance. By latticizing available velocity map of a robot, each velocity can be evaluated from the cost function and a robot can select better velocity among collision-free velocity candidates. A performance of introduced method is compared to other VO method using simulation, and experiments are conducted to verify the results of simulation.

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Correspondence to Mingeuk Kim.

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Kim, M., Oh, JH. Study on optimal velocity selection using velocity obstacle (OVVO) in dynamic and crowded environment. Auton Robot 40, 1459–1470 (2016).

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  • Dynamic obstacle
  • Mobile robot
  • Velocity obstacle
  • Pass-time
  • Optimization