Stochastic finite elements: a spectral approach
Stochastic finite elements: a spectral approach
Journal of the ACM (JACM)
Simulation and the Monte Carlo Method
Simulation and the Monte Carlo Method
Planning Algorithms
LQG-MP: Optimized path planning for robots with motion uncertainty and imperfect state information
International Journal of Robotics Research
A Probabilistically Robust Path Planning Algorithm for UAVs Using Rapidly-Exploring Random Trees
Journal of Intelligent and Robotic Systems
Hi-index | 0.00 |
The ability of mobile robots to generate feasible trajectories online is an important requirement for their autonomous operation in unstructured environments. Many path generation techniques focus on generation of time- or distance-optimal paths while obeying dynamic constraints, and often assume precise knowledge of robot and/or environmental (i.e. terrain) properties. In uneven terrain, it is essential that the robot mobility over the terrain be explicitly considered in the planning process. Further, since significant uncertainty is often associated with robot and/or terrain parameter knowledge, this should also be accounted for in a path generation algorithm. Here, extensions to the rapidly exploring random tree (RRT) algorithm are presented that explicitly consider robot mobility and robot parameter uncertainty based on the stochastic response surface method (SRSM). Simulation results suggest that the proposed approach can be used for generating safe paths on uncertain, uneven terrain.