Path optimization for rhombic-like vehicles: An approach based on rigid body dynamics

Abstract

Abstract-This paper proposes a new path optimization method to improve feasibility and optimality of rough collisionfree paths provided by global planners. Inspired on the dynamics of rigid bodies, this method redefines the elastic bands framework to explicitly handle vehicle geometric constraints and explore the high maneuvering ability of rhombic vehicles. The proposed method was tested as a post optimization technique on global path solutions planned for a large transporter that will operate in the International Thermonuclear Experimental Reactor (ITER). Presented results show the proficiency of this method on handling feasible and reliable paths in cluttered scenarios such as those in ITER.

Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios

“…Comparing with other previous approaches developed and tested by the same authors, using CDT [8], or Rapidly exploring Random Tree (RRT) [31], or only FM 2 [10], the algorithm proposed in this paper also provides trajectories with no clashes whenever possible, but with better performance in terms of computation time, smoothness and safety.…”