ICRA 2011 Paper Abstract


Paper TuP211.1

Hernandez, Emili (Universitat de Girona), Carreras, Marc (Universitat de Girona), Antich, Javier (University of the Balearic Islands), Ridao, Pere (Universitat de Girona), Ortiz, Alberto (University of the Balearic Islands)

A Topologically Guided Path Planner for an AUV Using Homotopy Classes

Scheduled for presentation during the Regular Sessions "Marine and Underwater Robotics II" (TuP211), Tuesday, May 10, 2011, 15:25−15:40, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Marine Robotics, Motion and Path Planning


The paper proposes a method that uses topological information to guide the path search in any 2D workspace. As a first contribution, we have extended the method proposed by Jenkins to generate the topological information by taking into consideration the constraints of the workspace during the construction of the topological environment, which is then used to compute topological paths. As a second contribution, a planner based on the Rapidly-exploring Random Tree (RRT), called emph{Homotopic RRT} (HRRT) is proposed to use the topological information to guide the path search in the workspace. Finally, simulated and real results with an Autonomous Underwater Vehicle (AUV) are presented showing the feasibility of the proposal. Comparison with well-known path planning algorithms has also been included.



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