Behavior dynamics of collision-avoidance in motion planning of mobile robots

Xingjian Jing, Da Long Tan, Yue Chao Wang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)


This paper describes the motion planning problems of mobile robots in uncertain dynamic environments with no restrictions on the shape of obstacles. A new approach based on the behavior dynamics of collision-avoidance is proposed to deal with the real-time collision-free motion planning using the local coordinates of the mobile robot. The behavior dynamics of a dynamic collision-avoidance process was modeled, and then the motion-planning problem was transformed into a simple optimization problem with some inequality constraints based on control of the behavior dynamics. The decision-making space of this optimization problem is right the acceleration space of the mobile robot. By solving this optimization problem, the optimal behavior of the mobile robot to avoid obstacles and go to the desired target can be obtained easily. Simulations are given to illustrate the main ideas.
Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Number of pages6
Publication statusPublished - 1 Dec 2004
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 28 Sep 20042 Oct 2004


Conference2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)


  • Behavior dynamics
  • Collision avoidance
  • Mobile robots
  • Motion planning
  • Uncertain dynamic environment

ASJC Scopus subject areas

  • Engineering(all)

Cite this