Expert-guided kinodynamic RRT path planner for non-holonomic robots

Sanz, José María and Hernando Gutiérrez, Miguel and Zaragoza Prous, Guillermo and Brunete González, Alberto (2018). Expert-guided kinodynamic RRT path planner for non-holonomic robots. In: "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)", 01/10/2018 - 05/10/2018, Madrid, España. pp. 6540-6545. https://doi.org/10.1109/IROS.2018.8593924.

Description

Title: Expert-guided kinodynamic RRT path planner for non-holonomic robots
Author/s:
  • Sanz, José María
  • Hernando Gutiérrez, Miguel
  • Zaragoza Prous, Guillermo
  • Brunete González, Alberto
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Event Dates: 01/10/2018 - 05/10/2018
Event Location: Madrid, España
Title of Book: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Date: 2018
Subjects:
Faculty: E.T.S.I. Diseño Industrial (UPM)
Department: Ingeniería Eléctrica, Electrónica Automática y Física Aplicada
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this paper, an expert-guided kinodynamic RRT algorithm (EGK-RRT) is presented. It aims to consider how a human pilot would navigate a kinodynamic robot. One of the characteristics of this algorithm is the fact that, unlike the original RRT for kinodynamic systems, it generates deterministic control sequences which can be reproduced as long as the sequence of references (sampled states) are known. Here, the performance of the proposed algorithm is tested against the basic RRT, showing that the EGK-RRT greatly improves in terms of execution speed. In addition to this, the influence of using a visibility check and an inertia estimation in order to select the nearest neighbor is also analyzed, demonstrating that a combination of both factors leads to a better overall performance, both in execution speed and in quality of the generated path.

More information

Item ID: 55191
DC Identifier: http://oa.upm.es/55191/
OAI Identifier: oai:oa.upm.es:55191
DOI: 10.1109/IROS.2018.8593924
Official URL: https://ieeexplore.ieee.org/document/8593924
Deposited by: Memoria Investigacion
Deposited on: 23 May 2019 10:11
Last Modified: 03 Jun 2019 07:03
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