Dynamic Path Planning and Replanning for Mobile Robots using RRT

被引：0
|
作者：
Connell, Devin [1 ]
La, Hung Manh [1 ]
机构：
[1] Univ Nevada, Dept Comp Sci & Engn, Adv Robot & Automat ARA Lab, Reno, NV 89557 USA
来源：
2017 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) | 2017年
基金：
美国国家科学基金会; 美国国家航空航天局;
关键词：
MOTION; ENVIRONMENTS; ASTERISK;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the robot is rarely static, and it often has many moving obstacles. The robot may encounter one, or many of these unknown and unpredictable moving obstacles. The robot will need to decide how to proceed when one of these obstacles is obstructing it's path. A method of dynamic replanning using RRT* is presented. The robot will modify it's current plan when an unknown random moving obstacle obstructs the path. Various experimental results show the effectiveness of the proposed method.
引用
收藏
页码：1429 / 1434
页数：6
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