Name
Abstract | ||
|---|---|---|
In this work an algorithm is proposed for path planning in a rapidly changing environment. The algorithm is computationally cheap and generates a sub-optimal smooth path with bounds on the allowed velocity, acceleration, and jerk. The algorithm is designed for holonomic omniwheel platforms. It outperforms potential field algorithms regarding both convergence and optimality. Furthermore, it is able to adapt fast in a rapidly changing environment due to the low computational cost in the order of ms for a single update, in contrast with computationally more expensive methods such as wavefront algorithms and global optimization methods, where the computational cost is mostly on the order of seconds. The algorithm will be tested via simulations and experiments. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1016/j.robot.2007.01.003 | Robotics and Autonomous Systems |
Keywords | Field | DocType |
Realtime motion path planning,Changing environment,Collision avoidance | Convergence (routing),Motion planning,Computer vision,Holonomic,Wavefront,Global optimization,Computer science,Path generation,Simulation,Jerk,Acceleration,Artificial intelligence | Journal |
Volume | Issue | ISSN |
55 | 6 | Robotics and Autonomous Systems |
Citations | PageRank | References |
10 | 0.96 | 9 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dennis Bruijnen | 1 | 24 | 5.59 |
| Jeroen van Helvoort | 2 | 41 | 4.52 |
| René van de Molengraft | 3 | 194 | 23.48 |