Enhancing RRT planning for interception with distance and probability maps based on FMM

Book chapter (2018)

Authors

David Garzón UPM-CSIC
Jorge De León UPM-CSIC
Affiliation
External organisation
RRT Fast marching method Planning for interception
More Info
expand_more

Published Date

2018

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Affiliation

External organisation

Abstract

This article presents a new approach to the interception of moving targets in large and complex scenarios. The path planning for interception is based on the Risk-RRT algorithm, which is enhanced by integrating additional information obtained using Fast Marching Method algorithms. Two different techniques based on that method were adapted and integrated within the Risk-RRT, one that obtains the travel distance to the target location and another that estimates the probability of interception at a given point. The proposed approach effectively combines that environmental information with the kinodynamic path planning created by Risk-RRT. The combination of those two algorithms proved to be capable of on-line planning and following an effective interception path, while maintaining the functions of obstacle evasion, handling of uncertainties and reactive navigation.