Cart (Loading....) | Create Account
Close category search window
 

3D time-space path planning algorithm in dynamic environment utilizing Arrival Time Field and Heuristically Randomized Tree

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)
Ardiyanto, I. ; Dept. of Comput. Sci. & Eng., Toyohashi Univ. of Technol., Toyohashi, Japan ; Miura, J.

This paper deals with a path planning problem in the dynamic and cluttered environments. The presence of moving obstacles and kinodynamic constraints of the robot increases the complexity of path planning problem. We model the environment and motion of dynamic obstacles in 3D time-space. We propose the utilization of the arrival time field for examining the most promising area in those obstacles-occupied 3D time-space for approaching the goal. The arrival time field is used for guiding the expansion of a randomized tree search in a favorable way, considering kinodynamic constraints of the robot. The quality and the optimality of the path are taken into account by performing heuristic methods on the randomized tree. Simulation results are also provided to prove the feasibility, possibility, and effectiveness of our algorithm.

Published in:

Robotics and Automation (ICRA), 2012 IEEE International Conference on

Date of Conference:

14-18 May 2012

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.