{"type":"ScholarlyArticle","title":"Dynamic Trajectory Planning Path-Velocity Decomposition and Adjacent Paths","authors":[{"name":"Thierry Fraichard","slug":"thierry-fraichard","given":"Thierry","family":"Fraichard","affiliation":""},{"name":"Christian Laugier","slug":"christian-laugier","given":"Christian","family":"Laugier","affiliation":""}],"abstract":"his paper addresses Dyna1nic Trajectory Planning , which is defined as Motion Planning for a robot A moving in a dynan1ic workspace W , i.e. with moving obstacles. Besides A is subject. both to kinematic constraints and dynamic constraints. We consider the case of a car-like robot. A with bounded velocity and acceleration, moving in a dynamic workspace vV = IR. 2 . Our approach is an ex t.ension to the Path- Ye lo c it.y Decomposit.ion [!~ ant. and Zucker, 1986) . We introduce the concept of adjacent paths and we use it within a novel planning schema which operates in two complementary stages: (a) Path s Plnnning and (b) Trajectory Planning. In Paths Planning, a set. of adjacent paths, one of which leading A to it.s goal, are computed. These paths are co llision-fr ee with the stationary obstacles and respect. A 's kinematic constraints. In Trajectory Planning, knowing that. A is able t.o shift. from one p<tt.h t.o an adjacent on e freely. we determine the motion of A along and between these paths so as t.o avoid the movin g obst.a.cles while respecting A 's dynamic constraints.","doi":null,"url":"https://ijcai.org/proceedings/1993/221","pdf":"https://ijcai.org/proceedings/1993/0221.pdf","markdown":"https://ijcai.org/proceedings/1993/221.md","bibtex":"https://ijcai.org/proceedings/1993/bibtex/221","volume":{"slug":"1993","title":"Proceedings of the Thirteenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1993","url":"https://ijcai.org/proceedings/1993/","year":1993,"location":"Chambéry, France","dates":"","editors":"Ruzena Bajcsy","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics and Vision","track":"Robotics and Vision","number":221,"pages":{"first":1592,"last":1598},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}