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Formation obstacle avoidance using RRT and constraint based programming | IEEE Conference Publication | IEEE Xplore

Formation obstacle avoidance using RRT and constraint based programming


Abstract:

In this paper, we propose a new way of doing formation obstacle avoidance using a combination of Constraint Based Programming (CBP) and Rapidly Exploring Random Trees (RR...Show More

Abstract:

In this paper, we propose a new way of doing formation obstacle avoidance using a combination of Constraint Based Programming (CBP) and Rapidly Exploring Random Trees (RRTs). RRT is used to select waypoint nodes, and CBP is used to move the formation between those nodes, reactively rotating and translating the formation to pass the obstacles on the way. Thus, the CBP includes constraints for both formation keeping and obstacle avoidance, while striving to move the formation towards the next waypoint. The proposed approach is compared to a pure RRT approach where the motion between the RRT waypoints is done following linear interpolation trajectories, which are less computationally expensive than the CBP ones. The results of a number of challenging simulations show that the proposed approach is more efficient for scenarios with high obstacle densities.
Date of Conference: 11-13 October 2017
Date Added to IEEE Xplore: 30 October 2017
ISBN Information:
Electronic ISSN: 2475-8426
Conference Location: Shanghai, China

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