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RiskRRT-based planning for interception of moving objects in complex environments

Conference Paper (2014)
Author(s)

Mario GarzÓn (Consejo Superior de Investigaciones Científicas CSIC)

Efstathios P. Fotiadis (Consejo Superior de Investigaciones Científicas CSIC)

Antonio Barrientos (Consejo Superior de Investigaciones Científicas CSIC)

Anne Spalanzani (INRIA Rhône-Alpes, Université Grenoble Alpes)

Affiliation
External organisation
DOI related publication
https://doi.org/10.1007/978-3-319-03653-3_36 Final published version
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Publication Year
2014
Language
English
Affiliation
External organisation
Pages (from-to)
489-503
Publisher
Springer
ISBN (electronic)
9783319036526
Event
ROBOT 2013: 1st Iberian Robotics Conference (2013-11-28 - 2013-11-29), Madrid, Spain
Downloads counter
168

Abstract

This paper presents a new approach for the interception of moving objects using UGVs in large complex environments. The planning for interception is based on the Risk-RRT algorithm. Several modifications have been made to the base algorithm to enhance its ability to move in uncertain environments. The planner is integrated with a navigation architecture. The full system is capable of parallel on-line planning and following of the path. It performs the interception and at the same time it avoids static and dynamic obstacles. Several tests, both in simulation and with real world robots, were carried out showing the effectiveness of the proposed system.