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Volume 7
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Article

Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior

by
Khalil Muhammad Zuhaib
1,
Abdul Manan Khan
2,
Junaid Iqbal
1,
Mian Ashfaq Ali
3,
Muhammad Usman
1,
Ahmad Ali
1,
Sheraz Yaqub
1,
Ji Yeong Lee
2 and
Changsoo Han
2,*
1
Department of Mechatronics Engineering, Hanyang University ERICA Campus, Ansan 15588, Korea
2
Department of Robot Engineering, Hanyang University ERICA Campus, Ansan 15588, Korea
3
School of Mechanical and Manufacturing Engineering (SMME), National University of Science and Techonology (NUST), Islamabad 44000, Pakistan
*
Author to whom correspondence should be addressed.
Appl. Sci. 2017, 7(9), 903; https://doi.org/10.3390/app7090903
Submission received: 14 July 2017 / Revised: 21 August 2017 / Accepted: 30 August 2017 / Published: 4 September 2017
(This article belongs to the Special Issue Multi-Agent Systems)
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Abstract

Navigating a robot in a dynamic environment is a challenging task, especially when the behavior of other agents such as pedestrians, is only partially predictable. Also, the kinodynamic constraints on robot motion add an extra challenge. This paper proposes a novel navigational strategy for collision avoidance of a kinodynamically constrained robot from multiple moving passive agents with partially predictable behavior. Specifically, this paper presents a new approach to identify the set of control inputs to the robot, named control obstacle, which leads it towards a collision with a passive agent moving along an arbitrary path. The proposed method is developed by generalizing the concept of nonlinear velocity obstacle (NLVO), which is used to avoid collision with a passive agent, and takes into account the kinodynamic constraints on robot motion. Further, it formulates the navigational problem as an optimization problem, which allows the robot to make a safe decision in the presence of various sources of unmodelled uncertainties. Finally, the performance of the algorithm is evaluated for different parameters and is compared to existing velocity obstacle-based approaches. The simulated experiments show the excellent performance of the proposed approach in term of computation time and success rate.
Keywords: collision avoidance; multiple passive agents; Mobile Robot Navigation; pedestrian environment; kinodynamic planning; velocity obstacle collision avoidance; multiple passive agents; Mobile Robot Navigation; pedestrian environment; kinodynamic planning; velocity obstacle

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MDPI and ACS Style

Zuhaib, K.M.; Khan, A.M.; Iqbal, J.; Ali, M.A.; Usman, M.; Ali, A.; Yaqub, S.; Lee, J.Y.; Han, C. Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior. Appl. Sci. 2017, 7, 903. https://doi.org/10.3390/app7090903

AMA Style

Zuhaib KM, Khan AM, Iqbal J, Ali MA, Usman M, Ali A, Yaqub S, Lee JY, Han C. Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior. Applied Sciences. 2017; 7(9):903. https://doi.org/10.3390/app7090903

Chicago/Turabian Style

Zuhaib, Khalil Muhammad, Abdul Manan Khan, Junaid Iqbal, Mian Ashfaq Ali, Muhammad Usman, Ahmad Ali, Sheraz Yaqub, Ji Yeong Lee, and Changsoo Han. 2017. "Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior" Applied Sciences 7, no. 9: 903. https://doi.org/10.3390/app7090903

APA Style

Zuhaib, K. M., Khan, A. M., Iqbal, J., Ali, M. A., Usman, M., Ali, A., Yaqub, S., Lee, J. Y., & Han, C. (2017). Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior. Applied Sciences, 7(9), 903. https://doi.org/10.3390/app7090903

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