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Robust motion planning for non-holonomicrobots with planar geometric constraints
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-2965-2953
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-4173-2593
2019 (English)In: Proceedings of the ISRR2019, 2019Conference paper, Published paper (Refereed)
Abstract [en]

We present a motion planning algorithm for cases where geometry of the robot cannot be neglected and where its dynamics are governed by non-holonomic constraints. While the two problems are classically treated separately, orientation of the robot strongly affects its possible motions both from the obstacle avoidance and from kinodynamic constraints perspective. We adopt an abstraction based approach ensuring asymptotic completeness. To handle the complex dynamics, a data driven approach is presented to construct a library of feedback motion primitives that guarantee a bounded error in following arbitrarily long trajectories. The library is constructed along local abstractions of the dynamics that enables addition of new motion primitives through abstraction refinement. Both the robot and the obstacles are represented as a union of circles, which allows arbitrarily precise approximation of complex geometries. To handle the geometrical constraints, we represent over- and under-approximations of the three-dimensional collision space as a finite set of two-dimensional "slices" corresponding to different intervals of the robot's orientation space. Starting from a coarse slicing, we use the collision space over-approximation to find a valid path and the under-approximation to check forĀ  potential path non-existence. If none of the attempts are conclusive, the abstraction is refined. The algorithm is applied for motion planning and control of a rover with slipping without its prior modelling.

Place, publisher, year, edition, pages
2019.
Keywords [en]
Motion-planning, Non-holonomic
National Category
Robotics
Research subject
Industrial Information and Control Systems
Identifiers
URN: urn:nbn:se:kth:diva-266371OAI: oai:DiVA.org:kth-266371DiVA, id: diva2:1384066
Conference
The International Symposium on Robotics Research October 6-10, 2019, Hanoi, Vietnam
Note

QC 20200110

Available from: 2020-01-09 Created: 2020-01-09 Last updated: 2020-01-10Bibliographically approved

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Tajvar, PouriaVarava, AnastasiiaKragic, DanicaTumova, Jana

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4647484950515249 of 112
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