DocumentCode :
1373352
Title :
Hierarchical Motion Planning With Dynamical Feasibility Guarantees for Mobile Robotic Vehicles
Author :
Cowlagi, Raghvendra V. ; Tsiotras, Panagiotis
Author_Institution :
Lab. for Inf. & Decision Syst., Massachusetts Inst. of Technol., Cambridge, MA, USA
Volume :
28
Issue :
2
fYear :
2012
fDate :
4/1/2012 12:00:00 AM
Firstpage :
379
Lastpage :
395
Abstract :
Motion planning for mobile vehicles involves the solution of two disparate subproblems: the satisfaction of high-level logical task specifications and the design of low-level vehicle control laws. A hierarchical solution of these two subproblems is efficient, but it may not ensure compatibility between the high-level planner and the constraints that are imposed by the vehicle dynamics. To guarantee such compatibility, we propose a motion-planning framework that is based on a special interaction between these two levels of planning. In particular, we solve a special shortest path problem on a graph at a higher level of planning, and we use a lower level planner to determine the costs of the paths in that graph. The overall approach hinges on two novel ingredients: a graph-search algorithm that operates on sequences of vertices and a lower level planner that ensures consistency between the two levels of hierarchy by providing meaningful costs for the edge transitions of a higher level planner using dynamically feasible, collision-free trajectories.
Keywords :
collision avoidance; control system synthesis; graph theory; hierarchical systems; mobile robots; robot dynamics; search problems; trajectory control; collision-free trajectory; dynamical feasibility guarantee; edge transition; graph theory; graph-search algorithm; hierarchical motion planning; high-level logical task specification; high-level planner; low-level vehicle control law design; mobile robotic vehicles; path cost; shortest path problem; vehicle dynamics; vertex sequence; History; Planning; Shortest path problem; Trajectory; Vehicle dynamics; Vehicles; Autonomous mobile robots; consistency; graph search; kinodynamic motion planning; motion planning;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2011.2171613
Filename :
6075270
Link To Document :
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