Descripción
|
|
---|---|
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. | |
Internacional
|
Si |
Nombre congreso
|
ROBOT 2017: Third Iberian Robotics Conference |
Tipo de participación
|
960 |
Lugar del congreso
|
|
Revisores
|
Si |
ISBN o ISSN
|
978-3-319-70833-1 |
DOI
|
|
Fecha inicio congreso
|
22/11/2017 |
Fecha fin congreso
|
24/11/2017 |
Desde la página
|
867 |
Hasta la página
|
878 |
Título de las actas
|
Advances in Intelligent Systems and Computing book series (AISC, volume 693) |