Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Enhancing RRT planning for interception with distance and probability maps based on FMM
Year:2017
Research Areas
  • Automatic
Information
Abstract
This article presents a new approach to the interception of moving targets in large and complex scenarios. The path planning for interception is based on the Risk-RRT algorithm, which is enhanced by integrating additional information obtained using Fast Marching Method algorithms. Two different techniques based on that method were adapted and integrated within the Risk-RRT, one that obtains the travel distance to the target location and another that estimates the probability of interception at a given point. The proposed approach effectively combines that environmental information with the kinodynamic path planning created by Risk-RRT. The combination of those two algorithms proved to be capable of on-line planning and following an effective interception path, while maintaining the functions of obstacle evasion, handling of uncertainties and reactive navigation.
International
Si
Congress
ROBOT 2017: Third Iberian Robotics Conference
960
Place
Reviewers
Si
ISBN/ISSN
978-3-319-70833-1
Start Date
22/11/2017
End Date
24/11/2017
From page
867
To page
878
Advances in Intelligent Systems and Computing book series (AISC, volume 693)
Participants
  • Autor: David Garzon (Universidad Politecnica de Madrid)
  • Autor: Mario Andrei Garzon Oviedo (UPM)
  • Autor: Jorge De Leon Rivas (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
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