VelocityObstacleAnsätze

VelocityObstacle is a term used in robotics and control theory to describe a dynamic constraint that prevents a robot from reaching its goal within a specific timeframe. It represents a region in state-space that is unreachable due to the robot's maximum velocity and the presence of obstacles. Essentially, if a robot's current state and its maximum possible velocity vector point towards a region occupied by an obstacle, that region becomes a velocity obstacle.

The concept of velocity obstacles is crucial for real-time motion planning and collision avoidance, particularly for mobile robots. It allows a robot to predict and avoid potential collisions by considering not just the static position of obstacles, but also the dynamic capabilities of the robot itself. When a robot encounters a velocity obstacle, it must adjust its trajectory or velocity to ensure it does not enter this forbidden region.

Algorithms that utilize velocity obstacles often involve calculating the set of permissible velocities that keep the robot collision-free for a short future time horizon. This dynamic consideration is vital in environments with moving obstacles or when the robot itself has limited maneuverability. By continuously updating the velocity obstacle based on the robot's current state and the environment, effective and safe navigation can be achieved.