Stochastic mobility-based path planning in uncertain environments
Name
Kewlani-2009-Stochastic mobility-based path planning in uncertain environments.pdf
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845.85 KB
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Adobe PDF
Checksum (MD5)
2040741e6c76856d0be0c93e79e01d5d
Author(s)
Kewlani, Gaurav
Ishigami, Genya
Iagnemma, Karl
Date Issued
December 2009
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Kewlani, G., G. Ishigami, and K. Iagnemma. “Stochastic mobility-based path planning in uncertain environments.” Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on. 2009. 1183-1189. ©2009 Institute of Electrical and Electronics Engineers.
Version
Final published version
Abstract
The ability of mobile robots to generate feasible trajectories online is an important requirement for their autonomous operation in unstructured environments. Many path generation techniques focus on generation of time- or distance-optimal paths while obeying dynamic constraints, and often assume precise knowledge of robot and/or environmental (i.e. terrain) properties. In uneven terrain, it is essential that the robot mobility over the terrain be explicitly considered in the planning process. Further, since significant uncertainty is often associated with robot and/or terrain parameter knowledge, this should also be accounted for in a path generation algorithm. Here, extensions to the rapidly exploring random tree (RRT) algorithm are presented that explicitly consider robot mobility and robot parameter uncertainty based on the stochastic response surface method (SRSM). Simulation results suggest that the proposed approach can be used for generating safe paths on uncertain, uneven terrain.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2009.5354418
