Naslov
Motion Planning in the Presence of Moving Obstacles using RRT Search and B-splines

Autori
Maček, Kristijan ; Siegwart R.

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
CD ROM Proceedings of the 8th International IFAC Symposium on Robot Control, SYROCO, 2006. / - , 2006

Skup
8th International IFAC Symposium on Robot Control, SYROCO, 2006.

Mjesto i datum
Bologna, Italija, 06-08 September

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
autonomous navigation; motion planning

Sažetak
This paper addresses the problem of path planning of mobile robots in dynamic environments. A collision-free trajectory of the robot is generated in the presence of moving obstacles that is three times differentiable and enables direct derivation of kinematic level controls for the robot. A chained form decomposition and state transformation for a geometric and time criterion of collision avoidance is based on an approach where closed-form solution is found for a polynomial family of curves based on only one adjustable parameter for collision avoidance. However, the sensitivity of the parameter is considerable and can induce trajectories with large detours from the goal direction. Therefore, a family of curves based on Bsplines is introduced here that enables better local curve shape control. Relative obstacles to robot movement determines the prohibited regions in the transformed space. Thereafter, a collision-free path is found by a line-segment expansion from the transformed start and goal configuration based on Rapidly-exploring Random Trees. Thus obtained path is further approximated by a B-spline curve resulting in the final smooth trajectory.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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