Motion planning with an analytic risk cost for holonomic vehicles

Author

Greytak, Matthew ; Hover, Franz

Author_Institution

Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

5655

Lastpage

5660

Abstract

We present a robust motion planning algorithm for a holonomic mobile robot that incorporates the risk of collisions directly in the cost function. This deterministic algorithm uses analytic predictions of the path-following error statistics to quickly calculate the collision risk. The A* search algorithm is used to find motion plans that optimally balance the plan duration with the collision risk, and these plans have a higher probability of success than plans that do not consider the collision risk. We present experimental results for an autonomous marine vehicle.

Keywords

marine vehicles; mobile robots; path planning; probability; risk management; A* search algorithm; analytic risk cost; autonomous marine vehicle; collision risk; holonomic mobile robot; holonomic vehicles; path following error statistics; robust motion planning algorithm; Algorithm design and analysis; Cost function; Error analysis; Mobile robots; Motion analysis; Motion planning; Prediction algorithms; Risk analysis; Robustness; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5399943

Filename

5399943