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Safe mobile robot motion planning for waypoint sequences in a dynamic environment

: Petereit, Janko; Emter, Thomas; Frey, Christian

Postprint urn:nbn:de:0011-n-2387956 (301 KByte PDF)
MD5 Fingerprint: 330eb5a6a6f1e75ad64ddde4a9c2e911
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Erstellt am: 3.5.2013

Institute of Electrical and Electronics Engineers -IEEE-; IEEE Industrial Electronics Society -IES-:
IEEE International Conference on Industrial Technology, ICIT 2013. Vol.1 : 25-28 February 2013, Cape Town, Western Cape, South Africa
New York, NY: IEEE, 2013
ISBN: 978-1-4673-4567-5 (Print)
ISBN: 978-1-4673-4568-2 (Online)
ISBN: 978-1-4673-4569-9
International Conference on Industrial Technology (ICIT) <2013, Cape Town>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

Safe and efficient path planning for mobile robots in dynamic environments is still a challenging research topic. Most approaches use separate algorithms for global path planning and local obstacle avoidance. Furthermore, planning a path for a sequence of goals is mostly done by planning to each next goal individually. These two strategies generally result in sub-optimal navigation strategies.
In this paper, we present an algorithm which addresses these problems in a single combined approach. For this purpose, we model the static and dynamic risk of the environment in a consistent way and propose a novel graph structure based on a state x time x goal lattice with hybrid dimensionality. It allows the joint planning for multiple goals while incorporating collision risk due to dynamic and static obstacles. It computes hybrid solutions which are part trajectory and part path. Finally, we provide some results of our algorithm in action to prove its high quality solutions and real-time capability.