Title :
Motion planning with an analytic risk cost for holonomic vehicles
Author :
Greytak, Matthew ; Hover, Franz
Author_Institution :
Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA
Abstract :
We present a robust motion planning algorithm for a holonomic mobile robot that incorporates the risk of collisions directly in the cost function. This deterministic algorithm uses analytic predictions of the path-following error statistics to quickly calculate the collision risk. The A* search algorithm is used to find motion plans that optimally balance the plan duration with the collision risk, and these plans have a higher probability of success than plans that do not consider the collision risk. We present experimental results for an autonomous marine vehicle.
Keywords :
marine vehicles; mobile robots; path planning; probability; risk management; A* search algorithm; analytic risk cost; autonomous marine vehicle; collision risk; holonomic mobile robot; holonomic vehicles; path following error statistics; robust motion planning algorithm; Algorithm design and analysis; Cost function; Error analysis; Mobile robots; Motion analysis; Motion planning; Prediction algorithms; Risk analysis; Robustness; Vehicles;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5399943
