Motion planning with an analytic risk cost for holonomic vehicles
Name
Greytak-2009-Motion planning with an analytic risk cost for holonomic vehicles.pdf
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728.35 KB
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Checksum (MD5)
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Author(s)
Hover, Franz S.
Greytak, Matthew B.
Date Issued
January 2010
Journal
Proceedings of the 48th IEEE Conference on Decision Control, CDC/CCC 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Greytak, M., and F. Hover. “Motion planning with an analytic risk cost for holonomic vehicles.” Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on. 2009. 5655-5660. © Copyright 2010 IEEE
Version
Final published version
Abstract
We present a robust motion planning algorithm for a holonomic mobile robot that incorporates the risk of collisions directly in the cost function. This deterministic algorithm uses analytic predictions of the path-following error statistics to quickly calculate the collision risk. The A* search algorithm is used to find motion plans that optimally balance the plan duration with the collision risk, and these plans have a higher probability of success than plans that do not consider the collision risk. We present experimental results for an autonomous marine vehicle.
Description
held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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/CDC.2009.5399943
