Fast generator of multiple collision-free trajectories in dynamic environments

This paper presents a fast technique for obtaining a set of collision-free trajectories for a mobile robot under a continuous time approach. Given a mobile-robot path, a set of speeds for the mobile robot is generated with the constraint of avoiding collision with the moving obstacles in sight. Afterwards, this set of speeds is easily updated, when a change in the original mobile-robot path is applied. Collision-free trajectories that do not verify the dynamic constraints of the mobile robot are simply rejected