By Topic

Kinodynamic motion planning on roadmaps in dynamic environments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
van den Berg, J. ; Univ. of North Carolina at Chapel Hill, Chapel Hill ; Overmars, M.

In this paper we present a new method for kinodynamic motion planning in environments that contain both static and moving obstacles. We present an efficient two-stage approach: in the preprocessing phase, it constructs a roadmap that is collision-free with respect to the static obstacles and encodes the kinematic constraints on the robot. In the query phase, it plans a time-optimal path on the roadmap that obeys the dynamic constraints (bounded acceleration, curvature derivative) on the robot and avoids collisions with any of the moving obstacles. We do not put any constraints on the motions of the moving obstacles, but we assume that they are completely known when a query is performed. We implemented our method, and experiments confirm its good performance.

Published in:

Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on

Date of Conference:

Oct. 29 2007-Nov. 2 2007