Creator:

Pepy, Romain ; Kieffer, Michel ; Walter, Eric

Contributor:

Rauh, Andreas - ed. ; Auer, Ekaterina - ed. ; Hofer,Eberhard P. - ed. ; Luther, Wolfram - ed.

Title:

Reliable robust path planning with application to mobile robots

Subtitle:

.

Group publication title:

AMCS, volume 19 (2009)

Subject and Keywords:

interval analysis ; path planning ; robust control ; state-space models

Abstract:

This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic path planning in robotics.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2009

Resource Type:

artykuł

DOI:

10.2478/v10006-009-0034-2

Pages:

413-424

Source:

AMCS, volume 19, number 3 (2009) ; click here to follow the link

Language:

eng

Rights:

Biblioteka Uniwersytetu Zielonogórskiego