A novel method for solving the motion planning problem in the presence of moving obstacles is presented. Compared to previous approaches, the proposed method is more general in that obstacles are allowed to move with translation and rotation at nonlinear velocity. Using path/velocity decomposition, the method emphasizes the development of an efficient algorithm for collision detection between the robot and moving polygons. This algorithm is devised using transversability vector theory to determine the geometric relationships between any two convex polygons or convex components of concave polygons. The interference between the robot and the moving obstacles is detected and registered on the constraint map to represent time constraints on the robot's motion along the path. The constraint map is then used for velocity planning using a simple algorithm. The problem of a robot crossing the street is used as an example for computational analysis.>

The objective of this study is to develop a method for mobile robot motion planning in the presence of moving obstacles. The concept of traversability vectors is used to analyze the spatial relationship between the robot and moving obstacles. Given a predefined path, the occupancy of the path by moving obstacles can be detected and registered on the constraint map. Obstacles on this map represent time constraints on the robot motion along the path. A search algorithm is then developed to coordinate the robot motion. Simulation results for this approach are discussed.>