Motion planning a aerial robot using rapidly-exploring random trees with dynamic constraints

Author

Kim, Jongwoo ; Ostrowski, James P.

Author_Institution

Gen. Robotics, Autom., Sensing, & Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA

Volume

2

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

2200

Abstract

We describe some recent work on randomized motion planning algorithms and consider the problem of motion planning for systems with both kinematic and dynamic constraints. Such a problem is often referred to as kinodynamic motion planning. A rapidly-exploring random tree (RRT) is used for the motion planning of a blimp system, and some techniques for improving the performance of the planner are proposed. Based on a dynamic model of a blimp, dynamic constraints are introduced into the algorithm design and simulations are conducted for trajectory generation.

Keywords

aerospace robotics; constraint handling; path planning; position control; randomised algorithms; robot dynamics; robot kinematics; aerial robot; blimp system; dynamic constraints; kinematic constraints; kinodynamic motion planning; randomized algorithms; rapidly exploring random trees; trajectory generation; Algorithm design and analysis; Control systems; Kinematics; Laboratories; Motion planning; Nonlinear dynamical systems; Path planning; Robot sensing systems; Robotics and automation; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241920

Filename

1241920