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Stochastic Mobility-based Path Planning in Uncertain Environments
MIT, USA.
MIT, USA.
MIT, USA.
2009 (English)In: IROS 2009: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, N.J.: IEEE Press, 2009, 1183-1189 p.Conference paper, Published paper (Refereed)
Abstract [en]

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. © 2009 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2009. 1183-1189 p.
Keyword [en]
Autonomous operations, Dynamic constraints, Optimal paths, Path generation, Path-planning, Planning process, Rapidly-exploring random trees, Robot parameters, Simulation result, Stochastic response surface methods, Uncertain environments, Uneven terrain, Unstructured environments
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20755DOI: 10.1109/IROS.2009.5354418ISI: 000285372900198Scopus ID: 2-s2.0-76249132287ISBN: 978-142443804-4 OAI: oai:DiVA.org:hh-20755DiVA: diva2:586834
Conference
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO USA, 11-15, 2009
Available from: 2013-01-13 Created: 2013-01-12 Last updated: 2013-01-29Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf