Obstacle Identification and Ellipsoidal Decomposition for Fast Motion Planning in Unknown Dynamic Environments. (arXiv:2209.14233v1 [cs.RO])

Collision avoidance in the presence of dynamic obstacles in unknown
environments is one of the most critical challenges for unmanned systems. In
this paper, we present a method that identifies obstacles in terms of
ellipsoids to estimate linear and angular obstacle velocities. Our proposed
method is based on the idea of any object can be approximately expressed by
ellipsoids. To achieve this, we propose a method based on variational Bayesian
estimation of Gaussian mixture model, the Kyachiyan algorithm, and a …

arxiv environments identification motion planning planning