Loading [MathJax]/extensions/MathZoom.js
Re-planning Using Delaunay Triangulation for Real Time Motion Planning in Complex Dynamic Environments | IEEE Conference Publication | IEEE Xplore

Re-planning Using Delaunay Triangulation for Real Time Motion Planning in Complex Dynamic Environments


Abstract:

Motion Planning in an unknown, time-varying environment is a relevant problem in present day robotics. While there exist many probabilistic and resolution complete algori...Show More

Abstract:

Motion Planning in an unknown, time-varying environment is a relevant problem in present day robotics. While there exist many probabilistic and resolution complete algorithms for motion planning in dynamic environments, each of these are limited by various constraints. This paper presents triangulation based motion planning in unknown dynamic environments. Our novel idea is implemented in two stages. In the first stage, a global path is computed considering only static obstacles in the configuration space. The second stage of implementation uses our proposed algorithm T-star (T*) for replanning the global path according to real time considerations. We demonstrate the effectiveness of our novel idea in multiple simulation environments with more then 20 simultaneously moving obstacles.
Date of Conference: 09-12 July 2018
Date Added to IEEE Xplore: 02 September 2018
ISBN Information:
Electronic ISSN: 2159-6255
Conference Location: Auckland, New Zealand

References

References is not available for this document.