The nonlinear velocity obstacle revisited: The optimal time horizon

  • Shiller Z
  • Gal O
  • Fraichard T
  • 27


    Mendeley users who have this article in their library.
  • N/A


    Citations of this article.


This paper addresses the issue of motion safety in dynamic environments using Velocity Obstacles. Specifically, we propose the minimum time horizon for the velocity obstacle to ensure that the boundary of the velocity obstacle approximates conservatively that boundary of the set of inevitable collision states. Thus, using the velocity obstacle to select potential avoidance maneuvers would ensure that only safe maneuvers are being selected. The computation of the minimum time horizon is formulated as a minimum time problem, which is solved numerically for each static or moving obstacle. The ``safe'' velocity obstacles are used in an on-line planner that generates near-time optimal trajectories to the goal. The planner is demonstrated for on-line motion planning in very crowded static and dynamic environments.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

There are no full text links


  • Zvi Shiller

  • Oren Gal

  • Thierry Fraichard

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free