Robot Motion Planning in Dynamic Uncertain Environments
Resource
ADVANCED ROBOTICS, 25(6-7), 849-870
Journal
Advanced Robotics
Pages
849-870
Date Issued
2011
Date
2011
Author(s)
Chung, Shu-Yun
Abstract
In the real world, mobile robots often operate in dynamic and uncertain environments. Therefore, it is necessary to develop a motion planner capable of real-time planning that also addresses uncertainty concerns. In this paper, a new algorithm, Dynamic AO* (DAO*), is developed for navigation tasks of mobile robots. DAO* not only performs a good anytime behavior and offers a fast replanning framework, but also considers the motion uncertainty. Moreover, by incorporating DAO* with D* Lite, a new planning architecture, DDAO*, is represented to efficiently search in large state spaces. Finally, simulations and experiments are shown to verify the efficiency of the proposed algorithms. © 2011 VSP.
SDGs
Type
journal article
File(s)![Thumbnail Image]()
Loading...
Name
index.html
Size
23.44 KB
Format
HTML
Checksum
(MD5):0d3282499e85f288835b67a68ff816b8