Multi-resolution H-cost motion planning: A new framework for hierarchical motion planning for autonomous mobile vehicles

Author

Cowlagi, Raghvendra V. ; Tsiotras, Panagiotis

Author_Institution

Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

fYear

2011

fDate

25-30 Sept. 2011

Firstpage

3501

Lastpage

3506

Abstract

This paper summarizes some recent developments on a new motion planning framework for autonomous vehicles. The main novelties of the current work include: a provably complete multi-resolution path planning scheme using wavelet-based workspace cell decompositions; a general technique for incorporating vehicle dynamic constraints in the geometric path planner; and a local trajectory generation scheme based on model predictive control.

Keywords

geometry; mobile robots; path planning; position control; predictive control; robot dynamics; wavelet transforms; autonomous mobile vehicles; geometric path planner; hierarchical motion planning; local trajectory generation scheme; model predictive control; multiresolution H-cost motion planning; multiresolution path planning scheme; vehicle dynamic constraints; wavelet-based workspace cell decompositions; Aircraft navigation; Approximation methods; Planning; Tiles; Trajectory; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Conference_Location

San Francisco, CA

ISSN

2153-0858

Print_ISBN

978-1-61284-454-1

Type

conf

DOI

10.1109/IROS.2011.6094578

Filename

6094578