Title :
A framework for motion planning in stochastic environments: applications and computational issues
Author :
LaValle, Steven M. ; Sharma, Rajeev
Author_Institution :
Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
Abstract :
The authors (1995) have previously presented a framework for analyzing motion plans for a robot that operates in an environment that changes over time in an uncertain manner. In this paper, the authors demonstrate the utility of their framework by applying it to a variety of motion planning problems. Examples are computed for problems that involve a changing configuration space, hazardous regions and shelters, and processing of random service requests. To achieve this, the authors have exploited the powerful principle of optimality, which leads to a dynamic programming-based algorithm for determining optimal strategies. Several computed examples are presented and discussed
Keywords :
dynamic programming; mobile robots; path planning; state-space methods; stochastic processes; uncertain systems; changing configuration space; dynamic programming-based algorithm; hazardous regions; motion planning; optimal strategies; optimality principle; random service requests; shelters; stochastic environments; uncertain environment; Computer applications; Heuristic algorithms; Motion analysis; Motion planning; Orbital robotics; Robotics and automation; Robots; Stochastic processes; Time sharing computer systems; Uncertainty;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525720