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Abstract
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| 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. | |
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International
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Si |
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Congress
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ROBOT 2017: Third Iberian Robotics Conference |
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960 |
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Place
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Reviewers
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Si |
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ISBN/ISSN
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978-3-319-70833-1 |
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Start Date
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22/11/2017 |
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End Date
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24/11/2017 |
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From page
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867 |
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To page
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878 |
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Advances in Intelligent Systems and Computing book series (AISC, volume 693) |