Real Time Motion Planning in Dynamic Environment Containing Moving Obstacles Using Spatiotemporal RRT
Real Time Motion Planning in Dynamic Environment Containing Moving Obstacles Using Spatiotemporal RRT
复制标题
使用时空 RRT 在包含移动障碍物的动态环境中进行实时运动规划
DOI：
10.9746/ve.sicetr1965.43.277
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
F. Miyazaki
中科院分区：
文献类型：
--
作者：
H. Sakahara;Y. Masutani;F. Miyazaki
动态环境下的运动规划是自主移动的机器人的一个重要研究课题，近二十年来得到了广泛的研究。然而，现有的方法大多是在短时间内重复规划，只是环顾环境中障碍物的当前位置。换句话说，它们没有考虑到环境的动态特征。在我们的方法中，我们认为，环境变化是可预测的，在一个短的时间间隔，并把运动规划问题在一个已知的动态环境中的时间空间路径规划问题。StRRT使得有可能找到一个实际合理的路径的机器人与速度和加速度的限制。也可以通过在分配的时间内逐步构建搜索树来选择最佳路径。我们证明，使用模拟，StRRT可以产生更好的轨迹在动态环境中的RRT和势场的方法相比。我们还分析了StRRT的功能，考虑到感知和行动的限制。
Motion planning in dynamic environments is an important issue for autonomous mobile robot , and has been extensively studied for two decades. However, most of the existing methods repeat planning in short time , only looking around the current position of obstacles in the environment. In other words, they do not take into account the dynamic feature of environment. In our approach, we consider that the environmental changes are predictable in a short time interval, and regard the motion planning problem in a known dynamic environment as temporal spatial path planning problem. StRRT makes it possible to find a practically reasonable path for the robot with the limits of velocity and acceleration. It is also possible to choose the best among the paths by incrementally building a search tree in the allocated time. We demonstrate , using simulations, that StRRT can generate better trajectories in dynamic environments in comparison with RRT and a potential field approach. We also analyze the function of StRRT, considering perception and action constraints .