RELIABLE ROBUST PATH PLANNING WITH APPLICATION TO MOBILE ROBOTS

被引：17

作者：

Pepy, Romain ^{[1
]}

Kieffer, Michel ^{[1
]}

Walter, Eric ^{[1
]}

机构：

[1] Univ Paris Sud, L2S, CNRS, SUPELEC, F-91192 Gif Sur Yvette, France

来源：

INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE | 2009年 / 19卷 / 03期

关键词：

interval analysis; path planning; robust control; state-space models; STATE;

D O I：

10.2478/v10006-009-0034-2

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic path planning in robotics.

引用

页码：413 / 424

页数：12

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