Abstract
This article presents a new approach to the interception of moving targets in large and complex scenarios. The path planning for interception is based on the Risk-RRT algorithm, which is enhanced by integrating additional information obtained using Fast Marching Method algorithms. Two different techniques based on that method were adapted and integrated within the Risk-RRT, one that obtains the travel distance to the target location and another that estimates the probability of interception at a given point. The proposed approach effectively combines that environmental information with the kinodynamic path planning created by Risk-RRT. The combination of those two algorithms proved to be capable of on-line planning and following an effective interception path, while maintaining the functions of obstacle evasion, handling of uncertainties and reactive navigation.
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Acknowledgments
This work was partially supported by the Robotics and Cybernetics Group at Universidad Politécnica de Madrid (Spain), and it was funded under the projects: PRIC (Proteccin Robotizada de Infraestructuras Crticas; DPI2014-56985-R), sponsored by the Spanish Ministry of Economy and Competitiveness and RoboCity2030-III-CM (Robtica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III; S2013/MIT-2748), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Founds of the EU.
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Garzón-Ramos, D., Garzón, M., De León, J., Barrientos, A. (2018). Enhancing RRT Planning for Interception with Distance and Probability Maps Based on FMM. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_70
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DOI: https://doi.org/10.1007/978-3-319-70833-1_70
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