Complex robotic systems often have to operate in large environments. At the same time, their dynamic is complex enough that path planning algorithms need to reason about the kinodynamic constraints of these systems. On the other hand, such roboticsystems are typically expected to operate with speed that is commensurate with that of humans. This poses stringent limitation on available planning time. These will result in a contradiction between planning efficiency and the dimensions of the state space determined by the kinodynamic constraints. In this paper we present an anytime path planning algorithm to solving this problem. First, a graduated state space which consists of state lattices and grids is constructed for planning. Then, ARA∗ algorithm is utilized to search the graduated state space to find a path that satisfies the kinodynamic constraints and available runtime of planning.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Anytime path planning in graduated state space


    Contributors:
    Zhang, Haojie (author) / Xiong, Guangming (author) / Su, Bo (author) / Gong, Jianwei (author) / Jiang, Yan (author) / Chen, Huiyan (author) / Lan, Wei (author)


    Publication date :

    2013-06-01


    Size :

    321922 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    ANYTIME PATH PLANNING IN GRADUATED STATE SPACE

    Zhang, H. / Xiong, G. / Su, B. et al. | British Library Conference Proceedings | 2013


    Multiple UAV path planning using anytime algorithms

    Sujit, P.B. / Beard, R. | Tema Archive | 2009



    Science and graduated licensing

    Williams, Allan F. | Online Contents | 2007


    Traffic in graduated flow

    Schneider, K.R. | Engineering Index Backfile | 1956