Kinodynamic Motion Planning in Dynamic
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Experiments
in Simulated Environments
We tested our algorithm on two
different systems. The first one consists of two wheeled mobile robots
that maintains a direct line of sight as well as a minimum and a maximum
distance between them (see the movie below). The second system is a cylindrical robot propelled
by eight air-thrusters. It
operates on a "frictionless" granite table with
moving obstacles and is subject to maximum acceleration bounds due to the
limited actuating forces of air-thrusters. Despite the apparent differences
in these two systems, our algorithm deals with them in a unified
framework.
Quicktime movie
showing R2-D2 robots executing |
Experiments
on Real Robots
We have also experiemented with a hardware
implementation of our algorithm on the second system mentioned above at the Stanford University's Aerospace
Robotics Laboratory.
The robot floats "frictionlessly" on the granite table using air-bearing.
The roughly circular objects on the granite table are moving obstacles.
An overhead vision system detects the motion of obstacles. In reponse,
the robot computes a collision-free trajectory to the goal state on the fly.
The photos show
the motion of the robot in an experiment, in which
the robot attempts to move to the
goal state at the front of the table.
initial state | manuever to avoid the incoming obstacle | |
moving
toward the goal |
||
wait for
the obstacle to pass |
goal state |
People
David Hsu |
Robert Kindel |
Jean-Claude
Latombe
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