Corpus ID: 237532718

Fast-Replanning Motion Control with Short-Term Aborting A

@article{Missura2021FastReplanningMC,
  title={Fast-Replanning Motion Control with Short-Term Aborting A},
  author={Marcell Missura and Arindam Roychoudhury and Maren Bennewitz},
  journal={ArXiv},
  year={2021},
  volume={abs/2109.07775}
}
Autonomously driving vehicles must be able to navigate in dynamic and unpredictable environments in a collision-free manner. So far, this has only been partially achieved in driverless cars and warehouse installations where marked structures such as roads, lanes, and traffic signs simplify the motion planning and collision avoidance problem. We are presenting a new control framework for car-like vehicles that is suitable for virtually any environment. It is based on an unprecedentedly fast… Expand

Figures from this paper

References

SHOWING 1-10 OF 24 REFERENCES
Fast Footstep Planning with Aborting A
TLDR
A new way of fast footstep planning - Aborting A* - is presented which is able to guarantee a replanning rate of 50 Hz by aborting an A* search before completion, and it is shown that despite the bounded computation time, the planner computes good results and does not get stuck in local minima. Expand
Predictive Collision Avoidance for the Dynamic Window Approach
TLDR
This work proposes a change in the Dynamic Window Approach—a dynamic collision model—that is capable of predicting future collisions with the environment by also taking into account the motion of other objects. Expand
Real-time trajectory replanning for MAVs using uniform B-splines and a 3D circular buffer
TLDR
A real-time approach to local trajectory replanning for microaerial vehicles (MAVs) that can handle unmodeled (possibly dynamic) obstacles while keeping the MAV close to the global trajectory. Expand
Motion Planning in Dynamic Environments Using Velocity Obstacles
This paper presents a method for robot motion planning in dynamic environments. It consists of selecting avoidance maneuvers to avoid static and moving obstacles in the velocity space, based on theExpand
Kinodynamic trajectory optimization and control for car-like robots
TLDR
A novel generic formulation of Timed-Elastic-Bands for efficient online motion planning of car-like robots with real-time capable predictive control scheme that responds to obstacles within the robot's perceptual field. Expand
High-speed navigation using the global dynamic window approach
  • O. Brock, O. Khatib
  • Computer Science
  • Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 1999
TLDR
The global dynamic window approach is proposed, which combines methods from motion planning and real-time obstacle avoidance to result in a framework that allows robust execution of high-velocity, goal-directed reactive motion for a mobile robot in unknown and dynamic environments. Expand
Reciprocal Velocity Obstacles for real-time multi-agent navigation
TLDR
This paper applies the "Reciprocal Velocity Obstacle" concept to navigation of hundreds of agents in densely populated environments containing both static and moving obstacles, and shows that real-time and scalable performance is achieved in such challenging scenarios. Expand
Kinodynamic motion planning for mobile robots using splines
This paper presents an approach to time-optimal kinodynamic motion planning for a mobile robot. A global path planner is used to generate collision-free straight-line paths from the robot's positionExpand
Reciprocal collision avoidance with acceleration-velocity obstacles
TLDR
This work introduces the acceleration-velocity obstacle (AVO) to let a robot avoid collisions with moving obstacles while obeying acceleration constraints, and extends this concept to reciprocal collision avoidance for multi-robot settings, by letting each robot take half of the responsibility of avoiding pairwise collisions. Expand
Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles
TLDR
An algorithm for generating complex dynamically feasible maneuvers for autonomous vehicles traveling at high speeds over large distances based on performing anytime incremental search on a multi-resolution, dynamically feasible lattice state space is presented. Expand
...
1
2
3
...