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Paper TuA05.5

Ardiyanto, Igi (Toyohashi University of Technology), Miura, Jun (Toyohashi University of Technology)

3D Time-Space Path Planning Algorithm in Dynamic Environment Utilizing Arrival Time Field and Heuristically Randomized Tree

Scheduled for presentation during the Regular Session "Path Planning and Navigation" (TuA05), Tuesday, May 15, 2012, 09:30−09:45, Meeting Room 5 (Ska)

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 11, 2017

Keywords Motion and Path Planning, Autonomous Navigation, Reactive and Sensor-Based Planning

Abstract

This paper deals with a path planning problem in the dynamic and cluttered environments. The presence of moving obstacles and kinodynamic constraints of the robot increases the complexity of path planning problem. We model the environment and motion of dynamic obstacles in 3D time-space. We propose the utilization of the arrival time field for examining the most promising area in those obstacles-occupied 3D time-space for approaching the goal. The arrival time field is used for guiding the expansion of a randomized tree search in a favorable way, considering kinodynamic constraints of the robot. The quality and the optimality of the path are taken into account by performing heuristic methods on the randomized tree. Simulation results are also provided to prove the feasibility, possibility, and effectiveness of our algorithm.

 

 

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