<abstract xml:lang="en" xmlns="http://www.w3.org/1999/xhtml"><p>This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic path planning in robotics.</p></abstract>

This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic path planning in robotics.

Reliable Robust Path Planning with Application to Mobile Robots

L2S-CNRS-SUPELEC—Univ. Paris-Sud, 3 rue Joliot-Curie, 91192 Gif-sur-Yvette, France

International Journal of Applied Mathematics and Computer Science

{"article-title":"Reliable Robust Path Planning with Application to Mobile Robots"}

This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its...

Reliable Robust Path Planning with Application to Mobile Robots

Publié en ligne: 24 sept. 2009

Pages: 413 - 424

DOI: https://doi.org/10.2478/v10006-009-0034-2

Mots clés
interval analysis, path planning, robust control, state-space models

This content is open access.

Reliable Robust Path Planning with Application to Mobile Robots

Publié en ligne: 24 sept. 2009

Pages: 413 - 424

DOI: https://doi.org/10.2478/v10006-009-0034-2

Mots clésinterval analysis, path planning, robust control, state-space models

This content is open access.

Mots clés
interval analysis, path planning, robust control, state-space models