NDLI: Real-time randomized path planning for robot navigation

Content Provider	IEEE Xplore Digital Library
Author	Bruce, J. Veloso, M.
Copyright Year	2002
Description	Author affiliation: Dept. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA (Bruce, J.; Veloso, M.)
Abstract	Mobile robots often must find a trajectory to another position in their environment, subject to constraints. This is the problem of planning a path through a continuous domain Rapidly-exploring random trees (RRTs) are a recently developed representation on which fast continuous domain path planners can be based. In this work, we build a path planning system based on RRTs that interleaves planning and execution, first evaluating it in simulation and then applying it to physical robots. Our planning algorithm, ERRT (execution extended RRT), introduces two novel extensions of previous RRT work, the waypoint cache and adaptive cost penalty search, which improve replanning efficiency and the quality of generated paths. ERRT is successfully applied to a real-time multi-robot system. Results demonstrate that ERRT is significantly more efficient for replanning than a basic RRT planner, performing competitively with or better than existing heuristic and reactive real-time path planning approaches. ERRT is a significant step forward with the potential for making path planning common on real robots, even in challenging continuous, highly dynamic domains.
Sponsorship	IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. INRIA Rhone-Alpes Grenoble EPFL Lausanne
Starting Page	2383
Ending Page	2388
File Size	460224
Page Count	6
File Format	PDF
ISBN	0780373987
DOI	10.1109/IRDS.2002.1041624
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-09-30
Publisher Place	Switzerland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Navigation Mobile robots Computer science Costs Real time systems Multirobot systems Time factors State-space methods Explosions
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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