DocumentCode :
3097693
Title :
Blended local planning for generating safe and feasible paths
Author :
Xu, Ling ; Stentz, Anthony
Author_Institution :
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA
fYear :
2008
fDate :
22-26 Sept. 2008
Firstpage :
709
Lastpage :
716
Abstract :
Many planning approaches adhere to the two-tiered architecture consisting of a long-range, low fidelity global planner and a short-range high fidelity local planner. While this architecture works well in general, it fails in highly constrained environments where the available paths are limited. These situations amplify mismatches between the global and local plans due to the smaller set of feasible actions. We present an approach that dynamically blends local plans online to match the field of global paths. Our blended local planner generates paths from control commands to ensure the safety of the robot as well as achieve the goal. Blending also results in more complete plans than an equivalent unblended planner when navigating cluttered environments. These properties enable the blended local planner to utilize a smaller control set while achieving more efficient planning time. We demonstrate the advantages of blending in simulation using a kinematic car model navigating through maps containing tunnels, cul-de-sacs, and random obstacles.
Keywords :
mobile robots; path planning; blended local planning; cluttered environment navigation; kinematic car model; low fidelity global planner; safe paths generation; short-range high fidelity local planner; two-tiered architecture; Aerospace electronics; Kinematics; Mathematical model; Planning; Robots; Vehicle dynamics; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
Type :
conf
DOI :
10.1109/IROS.2008.4651141
Filename :
4651141
Link To Document :
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