Observatorio de I+D+i UPM

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)

Esta actividad pertenece a memorias de investigación

• Autor: David Garzon (Universidad Politecnica de Madrid)
• Autor: Mario Andrei Garzon Oviedo (UPM)
• Autor: Jorge De Leon Rivas (UPM)
• Autor: Antonio Barrientos Cruz (UPM)

• 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