Velocity obstacle based local collision avoidance for a holonomic elliptic robot

This paper addresses the local collision avoidance problem for a holonomic elliptic robot, where its footprint and obstacles are approximated with the minimum area bounding ellipses. The proposed algorithm is decomposed into two phases: linear and angular motion planning. In the former phase, the ellipse-based velocity obstacle is defined as a set of all linear velocities of the robot that would cause a collision with an obstacle within a finite...