Fast and Feasible Deliberative Motion Planner for Dynamic Environments
Mihail Pivtoraiko and Alonzo Kelly. Fast and Feasible Deliberative Motion Planner for Dynamic Environments. In Workshop on Planning in Dynamic Environments at the International Conference on Robotics and Automation, 2009.
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Abstract
We present an approach to the problem of differentially constrained mobile robot motion planning in arbitrary time-varying cost fields. We construct a special search space which is ideally suited to the requirements of dynamic environments including a) feasible motion plans that satisfy differential constraints, b) efficient plan repair at high update rates, and c) deliberative goal-directed behavior on scales well beyond the effective range of perception sensors. The search space contains edges which adapt to the state sampling resolution yet aquire states exactly in order to permit the use of the dynamic programming principle without introducing infeasibility. It is a symmetric lattice based on a repeating unit of controls which permits off-line computation of the planner heuristic, motion simulation, and the swept volumes associated with each motion. For added planning efficiency, the search space features fine resolution near the vehicle and reduced resolution far away. Furthermore, its topology is updated in real-time as the vehicle moves in such a way that the underlying motion planner processes changing topology as an equivalent change in the dynamic environment. The planner was originally developed to cope with the reduced computation available on the Mars rovers. Experimental results with research prototype rovers demonstrate that the planner allows us to exploit the entire envelope of vehicle maneuverability in rough terrain, while featuring real-time performance.
BibTeX
@INCOLLECTION{pivtoraiko_kelly_icra09,
author = {Mihail Pivtoraiko and Alonzo Kelly},
title = {Fast and Feasible Deliberative Motion Planner for Dynamic Environments},
booktitle = {Workshop on Planning in Dynamic Environments at the International Conference on Robotics and Automation},
year = {2009},
abstract = {We present an approach to the problem of differentially
constrained mobile robot motion planning in
arbitrary time-varying cost fields. We construct a
special search space which is ideally suited to the
requirements of dynamic environments including a)
feasible motion plans that satisfy differential
constraints, b) efficient plan repair at high update
rates, and c) deliberative goal-directed behavior on
scales well beyond the effective range of perception
sensors. The search space contains edges which adapt
to the state sampling resolution yet aquire states
exactly in order to permit the use of the dynamic
programming principle without introducing
infeasibility. It is a symmetric lattice based on a
repeating unit of controls which permits off-line
computation of the planner heuristic, motion
simulation, and the swept volumes associated with
each motion. For added planning efficiency, the
search space features fine resolution near the
vehicle and reduced resolution far away.
Furthermore, its topology is updated in real-time as
the vehicle moves in such a way that the underlying
motion planner processes changing topology as an
equivalent change in the dynamic environment. The
planner was originally developed to cope with the
reduced computation available on the Mars
rovers. Experimental results with research prototype
rovers demonstrate that the planner allows us to
exploit the entire envelope of vehicle
maneuverability in rough terrain, while featuring
real-time performance.},
bib2html_pubtype = {Workshop Papers},
bib2html_rescat = {Kinodynamic Planning},
owner = {mihail},
timestamp = {2010.08.07}
}