NDLI: Applying kinodynamic randomized motion planning with a dynamic priority system to multi-robot space systems

Content Provider	IEEE Xplore Digital Library
Author	Clark, C.M. Bretl, T. Rock, S.
Copyright Year	2002
Description	Author affiliation: Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA (Clark, C.M.; Bretl, T.; Rock, S.)
Abstract	Presents a new motion planning system that can construct collision-free trajectories for groups of robots in dynamic environments, without global knowledge or high-bandwidth communication. The robots plan within a confined environment that consists of stationary and moving obstacles. Each robot plans independently using Kinodynamic Randomized Motion Planner techniques to construct its own trajectory that is free of collisions with moving obstacles and other robots. To resolve conflicts between robot trajectories, a new Dynamic Priority System (DPS) is introduced which gives the right of way to the robot whose local workspace is the most crowded. The kinodynamic randomized motion planner allows easy integration of the robots nonholonomic constraint into the planning so that only kinematically and dynamically consistent plans are constructed. The speed of the trajectory construction allows planning in real-time, enabling the robot to maneuver safely in a dynamic environment. To verify the planner's effectiveness, it was tested using both simulation and experiment.
Sponsorship	IEEE Aerosp. & Electron. Syst. Soc
Starting Page	7
Ending Page	7
File Size	914015
Page Count	1
File Format	PDF
ISBN	078037231X
DOI	10.1109/AERO.2002.1035338
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-03-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Motion planning Robot sensing systems Aerodynamics Orbital robotics Trajectory Multirobot systems Testing Path planning Space missions
Content Type	Text
Resource Type	Article

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