Robot Planning in Uncertain, Dynamic Environments
Name
cheerla-acheerla-meng-eecs-2024-thesis.pdf
Description
Thesis PDF
Size
2.52 MB
Format
Adobe PDF
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0da3f8ceb7442831c7ef129b5537444f
Author(s)
Cheerla, Anika
Advisor(s)
Lozano-Perez, Tomás
Date Issued
May 2024
Publisher
Massachusetts Institute of Technology
Abstract
Many real-world applications require robots to operate in dynamic environments characterized by moving objects or agents whose trajectories are unpredictable. This thesis addresses the challenges posed by such environments by introducing Relative Temporal Probabilistic Roadmaps (Rel-T-PRM), a novel motion planning algorithm that builds upon the Temporal Probabilistic Roadmap (T-PRM) algorithm. The Rel-T-PRM allows for variable dynamic obstacle size, enables robustness with respect to minor changes in time and position and and introduces the concept of waiting until obstacles clear. Furthermore, we leverage Rel-T-PRM’s strengths to propose two replanning strategies. The first attempts to rapidly replan on-the-fly by using waiting to modify the trajectory without needing to modify the path. The second proposed replanning strategy identifies and plans to safe locations, where the robot can safely replan under a longer time horizon. We demonstrate Rel-T-PRM through a variety of simulation experiments on a fixed-base robotic manipulator.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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