Sampling Based Trajectory Planning for Robots in Dynamic Human Environments

Bidragets oversatte titel: Sampling Baseret Trajektorie Planlægning for Robotter i Dynamiske Mennesklige Miliøer

Mikael Svenstrup

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceabstrakt i proceedingForskningpeer review

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Resumé

Open-ended human environments, such as pedestrian streets, hospital corridors, train stations etc., are places where robots start to emerge. Hence, being able to plan safe
and natural trajectories in these dynamic environments is an important skill for future generations of robots. In this work the problem is formulated as planning a minimal cost trajectory through a potential field, defined from the perceived position and motion of persons in the environment. A modified Rapidlyexploring Random Tree (RRT) algorithm is proposed as a
solution to the planning problem.

The algorithm implements a new method for selecting the best trajectory in the RRT, according to the cost of traversing a potential field. Furthermore the RRT expansion is enhanced to direct the search and account for the kinodynamic robot constraints. A model predictive control (MPC) approach is taken to accommodate for the uncertainty in the dynamic environment.
The planning algorithm is demonstrated in a simulated pedestrian street environment.
OriginalsprogEngelsk
TitelProceedings of Robotics : Science and Systems 2010, Workshop: Motion Planning: From Theory to Practice
Publikationsdato27 jun. 2010
StatusUdgivet - 27 jun. 2010

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Trajectories
Robots
Sampling
Planning
Model predictive control
Costs
Uncertainty

Citer dette

Svenstrup, M. (2010). Sampling Based Trajectory Planning for Robots in Dynamic Human Environments. I Proceedings of Robotics: Science and Systems 2010, Workshop: Motion Planning: From Theory to Practice
Svenstrup, Mikael. / Sampling Based Trajectory Planning for Robots in Dynamic Human Environments. Proceedings of Robotics: Science and Systems 2010, Workshop: Motion Planning: From Theory to Practice. 2010.
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Svenstrup, M 2010, Sampling Based Trajectory Planning for Robots in Dynamic Human Environments. i Proceedings of Robotics: Science and Systems 2010, Workshop: Motion Planning: From Theory to Practice.

Sampling Based Trajectory Planning for Robots in Dynamic Human Environments. / Svenstrup, Mikael.

Proceedings of Robotics: Science and Systems 2010, Workshop: Motion Planning: From Theory to Practice. 2010.

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceabstrakt i proceedingForskningpeer review

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Svenstrup M. Sampling Based Trajectory Planning for Robots in Dynamic Human Environments. I Proceedings of Robotics: Science and Systems 2010, Workshop: Motion Planning: From Theory to Practice. 2010