Randomised rough-terrain robot motion planning

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 5798-5803

  Ettlin, Alan ^a   Bleuler, Hannes ^b  

^a University of Applied Sciences of Central Switzerland   (Switzerland)

^b EPFL   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; MOTION PLANNING; NAVIGATION SYSTEMS; RANDOM PROCESSES; SURFACE TOPOGRAPHY; TREES (MATHEMATICS);

RAPIDLY EXPLORING RANDOM TREES (RRT); ROUGH-TERRAIN ROBOT MOTION PLANNING; TERRAIN MODEL;

ROBOTS;

EID: 34250665010     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.282390     Document Type: Conference Paper

References (27)

1. Z. Shiller and J. Chen, "Optimal motion planning of autonomous vehicles in three-dimensional terrains," in Proceedings IEEE Int. Conf. Robotics and Automation, 1990.
2. Z. Shiller and Y. Gwo, "Dynamic motion planning of autonomous vehicles," IEEE Transactions Robotics and Automation, vol. 7, no. 2, 1991.
3. B. Dacre-Wright and T. Siméon, "Free space representation for a mobile robot moving on a rough terrain," in IEEE Int. Conf. on Robotics and Automation, 1993, pp. 37-43.
4. T. Kubota, I. Nakatani, and T. Yoshimitsu, "Path planning for planetary rover based on traversability probability," in Proceedings IEEE Int. Conf. on Advanced Robotics, 1995, pp. 739-744.
5. C. Chen and V. Kumar, "Motion planning of walking robots in environments with uncertainty," in Proceedings IEEE Int. Conf. on Robotics and Automation, 1996, pp. 3277-3282.
6. D. Pai and L. Reissell, "Multiresolution rough terrain motion planning," IEEE Transactions on Robotics and Automation, vol. 1, 1998.
7. A. Haït, T. Siméon, and M. Taïx, "Algorithms for rough terrain trajectory planning," Advanced Robotics, vol. 14, no. 6, 1999.
8. J.-C. Latombe, Robot motion planning, ser. The Kluwer Int. series in engineering and computer science. Kluwer, cop., 1991, vol. SECS 124.
9. K. Iagnemma, F. Génot, and S. Dubowsky, "Rapid physics-based roughterrain rover planning with sensor and control uncertainty," in IEEE Int. Conf. on Robotics and Automation, vol. 3, May 1999, pp. 2286-2291.
10. N. J. Nilsson, Artificial Intelligence: A New Synthesis. Morgan Kaufmann Publishers, 1998.
11. M. Cherif, "Motion planning for all-terrain vehicles: A physical modeling approach for coping with dynamic and contact interaction constraints," IEEE Transactions on Robotics and Automation, vol. 15, no. 2, pp. 202-218, April 1999.
12. H. Seraji, "Traversability index: a new concept for planetary rovers," in Proceedings IEEE Int. Conf. on Robotics and Automation, 1999.
13. Y. Guo, L. E. Parker, D. L. Jung, and Z. Dong, "Performance-based rough terrain navigation for nonholonomic mobile robots," in The 29th Annual Conf. of the IEEE Industrial Electronics Society (IECON'03), November 2003, p. 2811.
14. S. M. LaValle, "Rapidly-exploring random trees: A new tool for path planning," Computer Science Dept., Iowa State University, Tech. Rep. TR 98-11, 1998.
15. S. M. LaValle and J. J. Kuffner, "Randomized kinodynamic planning," in Proceedings IEEE Int. Conf. on Robotics and Automation, 1999, pp. 473-479.
16. _, Algorithmic and Computational Robotics: New Directions. A K Peters, 2001, ch. Rapidly-exploring random trees: Progress and prospects, pp. 293-308.
17. C. Urmson and R. Simmons, "Approaches for heuristically biasing rrt growth," in IEEE/RSJ Int. Conf. on Intelligent Robots & Systems, 2003.
18. J. Bruce and M. Veloso, "Real-time randomized path planning for robot navigation," in Int. Conf. on Intelligent Robots & Systems, 2002.
19. J. J. Kuffner and S. M. LaValle, "Rrt-connect: An efficient approach to single-query path planning," in Proceedings IEEE Intl Conf. on Robotics and Automation (ICRA 2000), 2000.
20. M. Strandberg, "Augmenting rrt-planners with local trees," in Proceedings IEEE Int. Conf. on Robotics and Automation, vol. 4, 2004, pp. 3258-3262.
21. M. Akinc, K. E. Bekris, B. Y. Chen, A. M. Ladd, E. Plaku, and L. E. Kavraki, "Probabilistic roadmaps of trees for parallel computation of multiple query roadmaps," in Eleventh Int. Symposium of Robotics Research (ISRR), 2003.
22. L. Kavraki, P. Svestka, J.-C. Latombe, and M. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," IEEE Transactions on Robotics and Automation, vol. 4, no. 12, pp. 566-580, 1996.
23. D. Hsu, R. Kindel, J. Latombe, and S. Rock, "Randomized kinodynamic motion planning with moving obstacles," Int. Journal of Robotics Research, vol. 21, no. 3, pp. 233-255, March 2002.
24. M. Kobilarov and G. S. Sukhatme, "Time optimal path planning on outdoor terrain for mobile robots under dynamic constraints," 2004, unpublished research paper from the USC Center for Robotics and Embedded Systems lab.
25. A. Atramentov and S. LaValle, "Efficient nearest neighbor searching for motion planning," in IEEE Int. Conf. on Robotics and Automation (ICRA '02), 2002.
26. P. Indyk and R. Motwani, "Approximate nearest neighbors: towards removing the curse of dimensionality," in Proceedings of 30th ACM Symposium on Theory of Computing, 1998, pp. 604-613.
27. S. Arya, D. M. Mount, N. S. Netanyahu, R. Silverman, and A. Y. Wu, "An optimal algorithm for approximate nearest neighbor searching fixed dimensions," ACM, 1998.