| dc.contributor.author | Hover, Franz S. | |
| dc.contributor.author | Greytak, Matthew B. | |
| dc.date.accessioned | 2010-10-15T14:21:00Z | |
| dc.date.available | 2010-10-15T14:21:00Z | |
| dc.date.issued | 2010-01 | |
| dc.date.submitted | 2009-12 | |
| dc.identifier.isbn | 978-1-4244-3871-6 | |
| dc.identifier.issn | 0191-2216 | |
| dc.identifier.other | INSPEC Accession Number: 11149294 | |
| dc.identifier.uri | http://hdl.handle.net/1721.1/59359 | |
| dc.description | held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. | en_US |
| dc.description.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. | en_US |
| dc.description.sponsorship | United States. Office of Naval Research (Grant N00014-02-1-0623) | en_US |
| dc.description.sponsorship | Science, Mathematics and Research for Transformation (SMART) scholarship | en_US |
| dc.language.iso | en_US | |
| dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
| dc.relation.isversionof | http://dx.doi.org/10.1109/CDC.2009.5399943 | en_US |
| dc.rights | 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. | en_US |
| dc.source | IEEE | en_US |
| dc.title | Motion planning with an analytic risk cost for holonomic vehicles | en_US |
| dc.type | Article | en_US |
| dc.identifier.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 | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Department of Mechanical Engineering | en_US |
| dc.contributor.approver | Hover, Franz S. | |
| dc.contributor.mitauthor | Hover, Franz S. | |
| dc.contributor.mitauthor | Greytak, Matthew B. | |
| dc.relation.journal | Proceedings of the 48th IEEE Conference on Decision Control, CDC/CCC 2009 | en_US |
| dc.eprint.version | Final published version | en_US |
| dc.type.uri | http://purl.org/eprint/type/JournalArticle | en_US |
| eprint.status | http://purl.org/eprint/status/PeerReviewed | en_US |
| dspace.orderedauthors | Greytak, Matthew; Hover, Franz | en |
| dc.identifier.orcid | https://orcid.org/0000-0002-2621-7633 | |
| mit.license | PUBLISHER_POLICY | en_US |
| mit.metadata.status | Complete | |
