000171052 001__ 171052
000171052 005__ 20260505142650.0
000171052 0247_ $$2doi$$a10.3390/robotics15040072
000171052 0248_ $$2sideral$$a149135
000171052 037__ $$aART-2026-149135
000171052 041__ $$aeng
000171052 100__ $$aMartinez-Baselga, Diego
000171052 245__ $$aAdaptive Optimal Collision Avoidance of Dynamic Agents for Differential-Drive Robots
000171052 260__ $$c2026
000171052 5060_ $$aAccess copy available to the general public$$fUnrestricted
000171052 5203_ $$aEfficient navigation in crowded and dynamic environments is crucial for robot integration into human spaces. AVOCADO (AdaptiVe Optimal Collision Avoidance Driven by Opinion) generates collision-free velocities using Velocity Obstacles and adaptation to the cooperation estimation among agents. However, it assumes holonomic motion and cannot handle non-holonomic constraints, such as those of differential-drive robots. We propose DD-AVOCADO, an extension of AVOCADO that incorporates differential-drive kinematics to compute feasible and safe velocities. The method combines AVOCADO-based planning with a non-holonomic controller and accounts for tracking errors to avoid collisions. Simulation results across diverse scenarios show a significant reduction in collisions and efficient navigation in scenarios with cooperative and non-cooperative agents, and hardware experiments demonstrate its applicability in robot platforms. The method has the potential to be applied to other dynamic models.
000171052 536__ $$9info:eu-repo/grantAgreement/ES/AEI/PID2022-139615OB-I00$$9info:eu-repo/grantAgreement/ES/AEI/PRE2020-094415$$9info:eu-repo/grantAgreement/ES/DGA/T45-23R
000171052 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttps://creativecommons.org/licenses/by/4.0/deed.es
000171052 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000171052 700__ $$aLanaspa, Diego
000171052 700__ $$0(orcid)0000-0002-6722-5541$$aRiazuelo, Luis$$uUniversidad de Zaragoza
000171052 700__ $$0(orcid)0000-0002-0449-2300$$aMontano, Luis$$uUniversidad de Zaragoza
000171052 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000171052 773__ $$g15, 4 (2026), 72$$tRobotics$$x2218-6581
000171052 8564_ $$s527262$$uhttps://zaguan.unizar.es/record/171052/files/texto_completo.pdf$$yVersión publicada
000171052 8564_ $$s2397345$$uhttps://zaguan.unizar.es/record/171052/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000171052 909CO $$ooai:zaguan.unizar.es:171052$$particulos$$pdriver
000171052 951__ $$a2026-05-05-13:36:40
000171052 980__ $$aARTICLE