TY - GEN
T1 - Stochastic mobility-based path planning in uncertain environments
AU - Kewlani, Gaurav
AU - Ishigami, Genya
AU - Iagnemma, Karl
PY - 2009/12/11
Y1 - 2009/12/11
N2 - The ability of mobile robots to generate feasible trajectories online is an important requirement for their autonomous operation in unstructured environments. Many path generation techniques focus on generation of time- or distance-optimal paths while obeying dynamic constraints, and often assume precise knowledge of robot and/or environmental (i.e. terrain) properties. In uneven terrain, it is essential that the robot mobility over the terrain be explicitly considered in the planning process. Further, since significant uncertainty is often associated with robot and/or terrain parameter knowledge, this should also be accounted for in a path generation algorithm. Here, extensions to the rapidly exploring random tree (RRT) algorithm are presented that explicitly consider robot mobility and robot parameter uncertainty based on the stochastic response surface method (SRSM). Simulation results suggest that the proposed approach can be used for generating safe paths on uncertain, uneven terrain.
AB - The ability of mobile robots to generate feasible trajectories online is an important requirement for their autonomous operation in unstructured environments. Many path generation techniques focus on generation of time- or distance-optimal paths while obeying dynamic constraints, and often assume precise knowledge of robot and/or environmental (i.e. terrain) properties. In uneven terrain, it is essential that the robot mobility over the terrain be explicitly considered in the planning process. Further, since significant uncertainty is often associated with robot and/or terrain parameter knowledge, this should also be accounted for in a path generation algorithm. Here, extensions to the rapidly exploring random tree (RRT) algorithm are presented that explicitly consider robot mobility and robot parameter uncertainty based on the stochastic response surface method (SRSM). Simulation results suggest that the proposed approach can be used for generating safe paths on uncertain, uneven terrain.
UR - http://www.scopus.com/inward/record.url?scp=76249132287&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2009.5354418
DO - 10.1109/IROS.2009.5354418
M3 - Conference contribution
AN - SCOPUS:76249132287
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 1183
EP - 1189
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -