Reliable Robust Path Planning with Application to Mobile Robots

Authors:
Romain Pepy;Michel Kieffer;Eric Walter
Affiliations:
L2S-CNRS-SUPELEC-Univ. Paris-Sud, 3 rue Joliot-Curie, 91192 Gif-sur-Yvette, France;L2S-CNRS-SUPELEC-Univ. Paris-Sud, 3 rue Joliot-Curie, 91192 Gif-sur-Yvette, France;L2S-CNRS-SUPELEC-Univ. Paris-Sud, 3 rue Joliot-Curie, 91192 Gif-sur-Yvette, France
Venue:
International Journal of Applied Mathematics and Computer Science - Verified Methods: Applications in Medicine and Engineering
Year:
2009

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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.