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Research paper

Velocity-space planning around moving obstacles

Velocity obstacles identify commands that would lead to future collisions; admissible alternatives are intersected with acceleration constraints. The paper replans at intervals and demonstrates point/disk robot cases alongside an automated-vehicle example.

Reviewed 2026-11-05 · Source and bibliography checked

Bibliographic details and the editorial overview were checked against the original source. Access conditions and editions are identified with the source.
Original title
Motion Planning in Dynamic Environments Using Velocity Obstacles
Publisher
SAGE Publications
Authors
Paolo Fiorini, Zvi Shiller
DOI
10.1177/027836499801700706
Journal issue date
1998-07
Source language
en
Edition
The International Journal of Robotics Research
Access
Public bibliography and abstract
Publication status
Published

Source overview

Velocity obstacles identify commands that would lead to future collisions; admissible alternatives are intersected with acceleration constraints. The paper replans at intervals and demonstrates point/disk robot cases alongside an automated-vehicle example.

Use and review

Guarantees are conditional on the stated dynamics, sensing and constraint assumptions. Abstract/source screening does not validate a complete robot installation or an ISO13849 safety function.

Sources & editions

Motion Planning in Dynamic Environments Using Velocity Obstacles ↗

SAGE Publications · The International Journal of Robotics Research

Publisher-deposited Crossref abstract/authors and month-only original issue date checked; robot examples prevent car-only exclusion. No full publisher text acquired.