74981 20260302145031.0 doi 10.1177/0278364918775520 sideral 107513 ART-2018-107513 eng Lorente, M.T. (orcid)0000-0001-7765-2937 Model-based robocentric planning and navigation for dynamic environments 2018 Access copy available to the general public Unrestricted This work addresses a new technique of motion planning and navigation for differential-drive robots in dynamic environments. Static and dynamic objects are represented directly on the control space of the robot, where decisions on the best motion are made. A new model representing the dynamism and the prediction of the future behavior of the environment is defined, the dynamic object velocity space (DOVS). A formal definition of this model is provided, establishing the properties for its characterization. An analysis of its complexity, compared with other methods, is performed. The model contains information about the future behavior of obstacles, mapped on the robot control space. It allows planning of near-time-optimal safe motions within the visibility space horizon, not only for the current sampling period. Navigation strategies are developed based on the identification of situations in the model. The planned strategy is applied and updated for each sampling time, adapting to changes occurring in the scenario. The technique is evaluated in randomly generated simulated scenarios, based on metrics defined using safety and time-to-goal criteria. An evaluation in real-world experiments is also presented. info:eu-repo/grantAgreement/ES/DGA/T04 info:eu-repo/grantAgreement/ES/MINECO/DPI2016-76676-R info:eu-repo/semantics/openAccess by-nc-nd https://creativecommons.org/licenses/by-nc-nd/4.0/deed.es 6.134 2018 ROBOTICS 4 / 26 = 0.154 2018 Q1 T1 2.189 2018 Applied Mathematics 2018 Q1 Artificial Intelligence 2018 Q1 Software 2018 Q1 Mechanical Engineering 2018 Q1 Modeling and Simulation 2018 Q1 Electrical and Electronic Engineering 2018 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Owen, E. Montano, L. Universidad de Zaragoza (orcid)0000-0002-0449-2300 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 37, 8 (2018), 867-889 Int. j. rob. res. The International Journal of Robotics Research 0278-3649 5166456 http://zaguan.unizar.es/record/74981/files/texto_completo.pdf Versión publicada 102271 http://zaguan.unizar.es/record/74981/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:74981 articulos driver 2026-03-02-14:50:03 ARTICLE