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Reliable robust path planning with application to mobile robots

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Pepy R., Kieffer M., Walter E.

International Journal of Applied Mathematics and Computer Science

2009

tom 19

nr 3

413-424

This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic path planning in robotics.

Ograniczanie wyników

1 International Journal of Applied Mathematics and Computer Science

1 Kieffer M.

1 Pepy R.

1 Walter E.

1 2009

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Reliable robust path planning with application to mobile robots