Combining safe interval path planning and constrained path following control: Preliminary results

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable of handling any-angle translations and rotations. Second, the path following problem is treated as the constrained control problem and the original flatness-based approach is proposed to generate control. We suggest a few enhancements for the path planning algorithm aimed at finding trajectories that are more likely to be followed by a robot without collisions. Results of the conducted experimental evaluation show that the number of successfully solved navigation instances significantly increases when using the suggested techniques. © Springer Nature Switzerland AG 2019.

Авторы
Yakovlev K. 1, 2, 5 , Andreychuk A. 1, 3 , Belinskaya J.1, 4 , Makarov D.1, 5
Язык
Английский
Страницы
310-319
Статус
Опубликовано
Том
11659 LNAI
Год
2019
Организации
  • 1 Artificial Intelligence Research Institute, Federal Research Center “Computer Science and Control” of Russian Academy of Sciences, Moscow, Russian Federation
  • 2 National Research University Higher School of Economics, Moscow, Russian Federation
  • 3 Peoples’ Friendship University of Russia (RUDN University), Moscow, Russian Federation
  • 4 Bauman Moscow State Technical University, Moscow, Russian Federation
  • 5 Moscow Institute of Physics and Technology, Dolgoprudny, Russian Federation
Ключевые слова
AA-SIPP; Differentially flat systems; Path finding; Path planning; Point-to-point control problem
Дата создания
24.12.2019
Дата изменения
24.12.2019
Постоянная ссылка
https://repository.rudn.ru/ru/records/article/record/55560/
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Другие записи

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