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Paper TuA09.1

Takei, Ryo (University of California, Berkeley), Huang, Haomiao (Stanford University), Ding, Jerry (University of California - Berkeley), Tomlin, Claire (UC Berkeley)

Time-Optimal Multi-Stage Motion Planning with Guaranteed Collision Avoidance Via an Open-Loop Game Formulation

Scheduled for presentation during the Regular Session "Collision" (TuA09), Tuesday, May 15, 2012, 08:30−08:45, Meeting Room 9 (Sa)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Collision Avoidance, Motion and Path Planning, Path Planning for Multiple Mobile Robots or Agents

Abstract

We present an efficient algorithm which computes, for a kinematic point mass moving in the plane, a time-optimal path that visits a sequence of target sets while conservatively avoiding collision with moving obstacles, also modelled as kine- matic point masses, but whose trajectories are unknown. The problem is formulated as a pursuit-evasion differential game, and the underlying construction is based on optimal control. The algorithm, which is a variant of the fast marching method for shortest path problems, can handle general dynamical constraints on the players and arbitrary domain geometry (e.g. obstacles, non-polygonal boundaries). Applications to a two- stage game, capture-the-flag, is presented.

 

 

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