Motion planning with an analytic risk cost for holonomic vehicles
held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009.
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/59359 https://orcid.org/0000-0002-2621-7633 |
| _version_ | 1826197007035793408 |
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| author | Hover, Franz S. Greytak, Matthew B. |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Hover, Franz S. Greytak, Matthew B. |
| author_sort | Hover, Franz S. |
| collection | MIT |
| description | held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. |
| first_indexed | 2024-09-23T10:41:17Z |
| format | Article |
| id | mit-1721.1/59359 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T10:41:17Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/593592022-09-27T14:15:55Z Motion planning with an analytic risk cost for holonomic vehicles Hover, Franz S. Greytak, Matthew B. Massachusetts Institute of Technology. Department of Mechanical Engineering Hover, Franz S. Hover, Franz S. Greytak, Matthew B. held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. We present a robust motion planning algorithm for a holonomic mobile robot that incorporates the risk of collisions directly in the cost function. This deterministic algorithm uses analytic predictions of the path-following error statistics to quickly calculate the collision risk. The A* search algorithm is used to find motion plans that optimally balance the plan duration with the collision risk, and these plans have a higher probability of success than plans that do not consider the collision risk. We present experimental results for an autonomous marine vehicle. United States. Office of Naval Research (Grant N00014-02-1-0623) Science, Mathematics and Research for Transformation (SMART) scholarship 2010-10-15T14:21:00Z 2010-10-15T14:21:00Z 2010-01 2009-12 Article http://purl.org/eprint/type/JournalArticle 978-1-4244-3871-6 0191-2216 INSPEC Accession Number: 11149294 http://hdl.handle.net/1721.1/59359 Greytak, M., and F. Hover. “Motion planning with an analytic risk cost for holonomic vehicles.” Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on. 2009. 5655-5660. © Copyright 2010 IEEE https://orcid.org/0000-0002-2621-7633 en_US http://dx.doi.org/10.1109/CDC.2009.5399943 Proceedings of the 48th IEEE Conference on Decision Control, CDC/CCC 2009 Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Hover, Franz S. Greytak, Matthew B. Motion planning with an analytic risk cost for holonomic vehicles |
| title | Motion planning with an analytic risk cost for holonomic vehicles |
| title_full | Motion planning with an analytic risk cost for holonomic vehicles |
| title_fullStr | Motion planning with an analytic risk cost for holonomic vehicles |
| title_full_unstemmed | Motion planning with an analytic risk cost for holonomic vehicles |
| title_short | Motion planning with an analytic risk cost for holonomic vehicles |
| title_sort | motion planning with an analytic risk cost for holonomic vehicles |
| url | http://hdl.handle.net/1721.1/59359 https://orcid.org/0000-0002-2621-7633 |
| work_keys_str_mv | AT hoverfranzs motionplanningwithananalyticriskcostforholonomicvehicles AT greytakmatthewb motionplanningwithananalyticriskcostforholonomicvehicles |