Memorias de investigación
Ponencias en congresos:
Expert-Guided Kinodynamic RRT Path Planner for Non-Holonomic Robots
Año:2018
Áreas de investigación
  • Robótica,
  • Robots móviles
Datos
Descripción
In this paper, an Expert-Guided Kinodynamic RRT algorithm (EGK-RRT) is presented. It aims to consider how a human pilot would navigate a kinodynamic robot. One of the characteristics of this algorithm is the fact that, unlike the original RRT for kinodynamic systems, it generates deterministic control sequences which can be reproduced as long as the sequence of references (sampled states) are known. Here, the performance of the proposed algorithm is tested against the basic RRT, showing that the EGK-RRT greatly improves in terms of execution speed. In addition to this, the influence of using a visibility check and an inertia estimation in order to select the nearest neighbor is also analyzed, demonstrating that a combination of both factors leads to a better overall performance, both in execution speed and in quality of the generated path.
Internacional
Si
Nombre congreso
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018)
Tipo de participación
960
Lugar del congreso
Madrid
Revisores
Si
ISBN o ISSN
978-1-5386-8094-0
DOI
10.1109/IROS.2018.8593924
Fecha inicio congreso
01/10/2018
Fecha fin congreso
05/10/2018
Desde la página
6540
Hasta la página
6545
Título de las actas
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018)
Esta actividad pertenece a memorias de investigación
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Ingeniería Eléctrica, Electrónica Automática y Física Aplicada