Combining space exploration and heuristic search in online motion planning for nonholonomic vehicles

IEEE Intelligent Vehicles Symposium, Proceedings

Volumn , Issue , 2013, Pages 1307-1312

  Chen, Chao ^a   Rickert, Markus ^a   Knoll, Alois ^a  

^a TECHNICAL UNIVERSITY OF MUNICH   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

GENERIC ALGORITHM; GEOMETRIC SHAPE; HEURISTIC SEARCH; MOTION PLANNING METHODS; NONHOLONOMIC VEHICLES; ON-LINE PERFORMANCE; SPACE EXPLORATIONS; TOPOLOGY INFORMATION;

COMPUTER PROGRAMMING; HEURISTIC ALGORITHMS; INTELLIGENT VEHICLE HIGHWAY SYSTEMS; MODULAR ROBOTS; MOTION PLANNING; SPACE RESEARCH;

VEHICLES;

EID: 84892412756     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IVS.2013.6629647     Document Type: Conference Paper

References (20)

1. J.-P. Laumond, Robot Motion Planning and Control. Springer, 1998.
2. O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots," The International Journal of Robotics Research, vol. 5, no. 1, pp. 90-98, 1986.
3. J. Barraquand and J.-C. Latombe, "Robot motion planning: A distributed representation approach," The International Journal of Robotics Research, vol. 10, no. 6, pp. 628-648, 1991.
4. S. Quinlan and O. Khatib, "Elastic bands: Connecting path planning and control," in Proc. IEEE International Conference on Robotics and Automation, 5 1993, pp. 802-807.
5. O. Brock and L. Kavraki, "Decomposition-based motion planning: A framework for real-time motion planning in high-dimensional configuration spaces," in Proc. IEEE International Conference on Robotics and Automation, 5 2001, pp. 1469-1474.
6. N. Vandapel, J. Kuffner, and O. Amidi, "Planning 3-d path networks in unstructured environments," in Proc. IEEE International Conference on Robotics and Automation, 4 2005, p. 46244629.
7. L. Dubins, "On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents," American Journal of Mathematics, vol. 79, no. 3, pp. 497-516, 1957.
8. J. Reeds and L. Shepp, "Optimal paths for a car that goes both forwards and backwards," Pacific Journal of Mathematics, vol. 145, no. 2, pp. 367-393, 1990.
9. S. Lavalle, "Rapidly-exploring random trees: A new tool for path planning," Department of Computer Science, Iowa State University, Tech. Rep., 1998.
10. J. Kuffner Jr. and S. LaValle, "Rrt-connect: An efficient approach to single-query path planning," in Proc. IEEE International Conference on Robotics and Automation, 4 2000, pp. 995-1001.
11. M. Kalisiak and M. van de Panne, "Rrt-blossom: Rrt with a local floodfill behavior," in Proc. IEEE International Conference on Robotics and Automation, 5 2006, pp. 1237-1242.
12. A. Shkolnik, M. Walter, and R. Tedrake, "Reachability-guided sampling for planning under differential constraints," in Proc. IEEE International Conference on Robotics and Automation, 5 2009, pp. 2859-2865.
13. E. Plaku, L. Kavraki, and M. Vardi, "Discrete search leading continuous exploration for kinodynamic motion planning," in Proc. of Robotics: Science and Systems, 6 2007.
14. M. Rickert, O. Brock, and A. Knoll, "Balancing exploration and exploitation in motion planning," in Proc. IEEE International Conference on Robotics and Automation, 5 2008, pp. 2812-2817.
15. S. Karaman, M. Walter, A. Perez, E. Frazzoli, and S. Teller, "Anytime motion planning using the rrt," in Proc. IEEE International Conference on Robotics and Automation, 5 2011, pp. 1478-1483.
16. M. Likhachev and D. Ferguson, "Planning long dynamically feasible maneuvers for autonomous vehicles," The International Journal of Robotics Research, vol. 28, no. 8, pp. 933-945, 2009.
17. D. Dolgov, S. Thrun, M. Montemerlo, and J. Diebel, "Path planning for autonomous vehicles in unknown semi-structured environments," The International Journal of Robotics Research, vol. 29, no. 5, pp. 485-501, 2010.
18. M. Werling, S. Kammel, J. Ziegler, and L. Groll, "Optimal trajectories for time-critical street scenarios using discretized terminal manifolds," The International Journal of Robotics Research, vol. 31, no. 3, pp. 346-359, 2012.
19. O. Brock and L. E. Kavraki, "Decomposition-based motion planning: Towards real-time planning for robots with many degrees of freedom," Rice University, Houston, TX, USA, Tech. Rep. TR00-367, Aug. 2000.
20. S. LaValle and J. Kuffner Jr., "Randomized kinodynamic planning," The International Journal of Robotics Research, vol. 20, no. 5, pp. 378-400, 2001.