Reliable Robust Path Planning
نویسندگان
چکیده
This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic path planning in robotics.
منابع مشابه
Reliable Robust Path Planning with Application to Mobile Robots
This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementat...
متن کاملA Robust Reliable Forward-reverse Supply Chain Network Design Model under Parameter and Disruption Uncertainties
Social responsibility is a key factor that could result in success and achieving great benefits for supply chains. Responsiveness and reliability are important social responsibility measures for consumers and all stakeholders that strategists and company managers should be concerned about them in long-term planning horizon. Although, presence of uncertainties as an intrinsic part of supply chai...
متن کاملEfficient Local Planning using Connection Collision Query
We introduce a novel proximity query, called connection collision query (CCQ), and use it for efficient and exact local planning in sampling-based motion planners. Given two collision-free configurations, CCQ checks whether these configurations can be connected by a given continuous path that either lies completely in the free space or penetrates any obstacle by at most ε , a given threshold. O...
متن کاملCCQ: Efficient Local Planning Using Connection Collision Query
We introduce a novel proximity query, called connection collision query (CCQ), and use it for efficient and exact local planning in sampling-based motion planners. Given two collision-free configurations, CCQ checks whether these configurations can be connected by a given continuous path that either lies completely in the free space or penetrates any obstacle by at most ε , a given threshold. O...
متن کاملPath Planning and Robust Tracking for A Car-Like Robot
In this paper the problem of path planning and path following for a car-like robot is considered. Some new algorithms are proposed, which, by experiments, have been proven to be quite robust.
متن کامل