Combining Safe Interval Path Planning and Constrained Path Following Control: Preliminary Results

Abstract

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable of handling any-angle translations and rotations. Second, the path following problem is treated as the constrained control problem and the original flatness-based approach is proposed to generate control. We suggest a few enhancements for the path planning algorithm aimed at finding trajectories that are more likely to be followed by a robot without collisions. Results of the conducted experimental evaluation show that the number of successfully solved navigation instances significantly increases when using the suggested techniques.

Scalable information-theoretic path planning for a rover-helicopter team in uncertain environments

“…For an initial distribution from a satellite image observation of location i described by the mean and variance s 2 P sat;i ¼ ½ sat;i ; s 2 sat;i (13) and a subsequent helicopter observation of location i P heli;i ¼ ½ heli;i ; s 2 heli;i (14) an estimate of the true distribution is given by…”

“…Performance comparisons of path constrained safe interval path planning and any-angle safe interval path planning algorithms for solving a rover path-planning problem with dynamic obstacles have been explored. 13 Dynamic obstacle trajectories were assumed to be known a priori and the authors did not consider a cooperating helicopter or a traversability model. Their map size was 46 Â 70 m 2 with 1 m 2 grid cells, and no solution times were included in the results.…”