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An Adaptive Multi-resolution State Lattice Approach for Motion Planning with Uncertainty

  • Conference paper
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Robot 2015: Second Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 417))

Abstract

In this paper we present a reliable motion planner that takes into account the kinematic restrictions, the shape of the robot and the motion uncertainty along the path. Our approach is based on a state lattice that predicts the uncertainty along the paths and obtains the one which minimizes both the probability of collision and the cost. The uncertainty model takes into account the stochasticity in motion and observations and the corrective effect of using a Linear Quadratic Gaussian controller. Moreover, we introduce an adaptive multi-resolution lattice that selects the most adequate resolution for each area of the map based on its complexity. Experimental results, for several environments and robot shapes, show the reliability of the planner and the effectiveness of the multi-resolution approach for decreasing the complexity of the search.

A. Bugarín—This work was supported by the Spanish Ministry of Economy and Competitiveness under projects TIN2011-22935, TIN2011-29827-C02-02 and TIN2014-56633-C3-1-R, and the Galician Ministry of Education under the projects EM2014/012 and CN2012/151. A. González-Sieira is supported by a FPU grant (ref. AP2012-5712) from the Spanish Ministry of Education, Culture and Sports.

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Authors and Affiliations

  1. Centro de Investigación En Tecnoloxías da Información (CiTIUS), Universidade de Santiago de Compostela, Santiago de Compostela, Spain

    A. González-Sieira, Manuel Mucientes & Alberto Bugarín

Authors
  1. A. González-Sieira
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  2. Manuel Mucientes
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  3. Alberto Bugarín
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Corresponding author

Correspondence to A. González-Sieira .

Editor information

Editors and Affiliations

  1. Info Syst Dept;Campus de Azurém, University of Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. Electrical and Computer Engineering Dept, University of Porto, Porto, Portugal

    António Paulo Moreira

  3. Instituto Superior Tecnico - Torre Norte, University of Lisboa, Lisboa, Portugal

    Pedro U. Lima

  4. Engineering Dept., E. Ada Byron, Univ of Zaragoza, Computer & Systems, Zaragoza, Spain

    Luis Montano

  5. Automatic Control and Systems Eng. Dept., University of Malaga, Superior Technical, Málaga, Spain

    Victor Muñoz-Martinez

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González-Sieira, A., Mucientes, M., Bugarín, A. (2016). An Adaptive Multi-resolution State Lattice Approach for Motion Planning with Uncertainty. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_20

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  • DOI: https://doi.org/10.1007/978-3-319-27146-0_20

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27145-3

  • Online ISBN: 978-3-319-27146-0

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