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RiskRRT-Based Planning For Interception of Moving Objects in Complex Environments

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Book cover ROBOT2013: First Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 253))

Abstract

This paper presents a new approach for the interception of moving objects using UGVs in large complex environments. The planning for interception is based on the Risk-RRT algorithm. Several modifications have been made to the base algorithm to enhance its ability to move in uncertain environments. The planner is integrated with a navigation architecture. The full system is capable of parallel on-line planning and following of the path. It performs the interception and at the same time it avoids static and dynamic obstacles. Several tests, both in simulation and with real world robots, were carried out showing the effectiveness of the proposed system.

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Author information

Authors and Affiliations

  1. Centro De Automática y Robótica, UPM-CSIC, Calle José Gutiérrez Abascal, 2., 28006, Madrid, Spain

    Mario Garzón, Efstathios P. Fotiadis & Antonio Barrientos

  2. Université Pierre-Mendès-France - Grenoble II, Grenoble, France

    Anne Spalanzani

  3. INRIA Rhône-Alpes, 655 Avenue de l’Europe, 38334, Saint Ismier Cedex, France

    Anne Spalanzani

Authors
  1. Mario Garzón
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  2. Efstathios P. Fotiadis
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  3. Antonio Barrientos
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  4. Anne Spalanzani
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Corresponding author

Correspondence to Mario Garzón .

Editor information

Editors and Affiliations

  1. CAR UPM-CSIC, Agencia Estatal Consejo Superior de Investigaciones Científicas (CSIC), Arganda del Rey, Spain

    Manuel A. Armada

  2. Universitat Politècnica de Catalunya (UPC), Barcelona, Spain

    Alberto Sanfeliu

  3. Universidad Politécnica de Madrid (UPM), Madrid, Spain

    Manuel Ferre

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© 2014 Springer International Publishing Switzerland

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Garzón, M., Fotiadis, E.P., Barrientos, A., Spalanzani, A. (2014). RiskRRT-Based Planning For Interception of Moving Objects in Complex Environments. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 253. Springer, Cham. https://doi.org/10.1007/978-3-319-03653-3_36

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  • DOI: https://doi.org/10.1007/978-3-319-03653-3_36

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03652-6

  • Online ISBN: 978-3-319-03653-3

  • eBook Packages: EngineeringEngineering (R0)

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