Efficient Motion Planning for Mobile Robots Dealing with Changes in Rough Terrain

被引：0

作者：

Katsuma, Shinya ^{[1
]}

Woo, Hanwool ^{[2
]}

Ji, Yonghoon ^{[3
]}

Tamura, Yusuke ^{[1
]}

Yamashita, Atsushi ^{[1
]}

Asama, Hajime ^{[1
]}

机构：

[1] Univ Tokyo, Dept Precis Engn, Bunkyo Ku, 7-3-1 Hongo, Tokyo 1138656, Japan

[2] Akita Prefectural Univ, Dept Intelligent Mechatron, 84-4 Tsuchiyaebinokuchi, Yurihonjo, Akita 0150055, Japan

[3] Chuo Univ, Dept Precis Mech, Bunkyo Ku, 1-13-27 Kasuga, Tokyo 1128551, Japan

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 22期

关键词：

Mobile robots; Rough terrain; Motion planning; Path planning; Autonomous navigation;

D O I：

10.1016/j.ifacol.2019.11.052

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a novel motion planning method that can deal with changes in rough terrain efficiently. Previous studies on motion planning in rough terrain did not consider significant changes in the environment. To solve this problem, we propose an efficient re-planning method. The re-planning method is characterized by using search tree repeatedly as long as it is still valid. Reusing search tree enables limiting the re-planning region, which leads to the shorter planning time. After re-planning, the re-planned path is deformed to shorten the length of the path. Experimental results show that the proposed method can generate a collision-free path against a significant environmental change and perform the re-planning within a short time. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

引用

页码：83 / 86

页数：4

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