GART: An environment-guided path planner for robots in crowded environments under kinodynamic constraints | |
Yang L(杨亮); Qi JT(齐俊桐); Yang LY(杨丽英); Wang, Lei; Han JD(韩建达) | |
刊名 | International Journal of Advanced Robotic Systems
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2016 | |
卷号 | 13期号:6页码:1-18 |
关键词 | Sampling-based Planning Algorithm Bidirectional Potential Field Control And Sensing Uncertainty Percentage Of Useful Samples |
ISSN号 | 1729-8806 |
产权排序 | 3 |
英文摘要 | The problem of three-dimensional path planning in obstacle-crowded environments is a challenge (an NP-hard problem), which becomes even more complex when considering environmental uncertainty and system control. Int this paper, we mainly focused on more challenging problem, that is, path planning in obstacle-crowded environments, and we try to find the relation between contact information and obstacle modeling. We proposed a newactive exploring sampling-based algorithm based on rapidly exploring random tree (RRT), namely, guiding attraction-based random tree (GART). GART introduces bidirectional potential field to redistribute each newly sampled state, such that the in-collision samples can be redistributed for extension. Furthermore, dynamic constraints are deployed to establish forward extending region by GART. Thus, GART can ensure kinodynamic reachability as well as smoothness. Theoretical analysis demonstrate that GART is probabilistic complete, and it obtains faster convergence rate because of its redistribution ability. In addition to theoretical analysis, this article provides comparative simulations as well as experiments under typical situations. Results demonstrate that GART has a much better time-efficiency performance than RRT∗, retraction-based RRT, and other referred algorithms when applying redistribution and dynamic constraints on random exploration. |
WOS关键词 | RRT PLANNER ; MOTION ; UNCERTAINTY ; ALGORITHMS |
WOS研究方向 | Robotics |
语种 | 英语 |
WOS记录号 | WOS:000394815200003 |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/19772] ![]() |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Yang L(杨亮) |
作者单位 | 1.University of Chinese Academy of Sciences, Beijing 100049, China 2.School of Automation, Nanjing Institute of Technology, Nanjing, 211167, China 3.Department of Electrical Engineering, City College of New York, New York, NY, 10031, United States 4.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
推荐引用方式 GB/T 7714 | Yang L,Qi JT,Yang LY,et al. GART: An environment-guided path planner for robots in crowded environments under kinodynamic constraints[J]. International Journal of Advanced Robotic Systems,2016,13(6):1-18. |
APA | Yang L,Qi JT,Yang LY,Wang, Lei,&Han JD.(2016).GART: An environment-guided path planner for robots in crowded environments under kinodynamic constraints.International Journal of Advanced Robotic Systems,13(6),1-18. |
MLA | Yang L,et al."GART: An environment-guided path planner for robots in crowded environments under kinodynamic constraints".International Journal of Advanced Robotic Systems 13.6(2016):1-18. |
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