Reliable robust path planning with application to mobile robots

• Autorzy: Romain Pepy , Michel Kieffer , Eric Walter
• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

interval analysis; path planning; robust control; state-space models

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2009
• Tom: 19
• Numer: 3
• Strony: 413-424

Daty

wydano

2009

otrzymano

2008-09-16

poprawiono

2009-02-09

Twórcy

autor

Romain Pepy

• L2S-CNRS-SUPELEC-Univ. Paris-Sud, 3 rue Joliot-Curie, 91192 Gif-sur-Yvette, France

autor

Michel Kieffer

• L2S-CNRS-SUPELEC-Univ. Paris-Sud, 3 rue Joliot-Curie, 91192 Gif-sur-Yvette, France

autor

Eric Walter

• L2S-CNRS-SUPELEC-Univ. Paris-Sud, 3 rue Joliot-Curie, 91192 Gif-sur-Yvette, France

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Identyfikatory

DOI

10.2478/v10006-009-0034-2