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Article Dans Une Revue International Journal of Applied Mathematics and Computer Science Année : 2009

Reliable robust path planning

Michel Kieffer
Eric Walter

Résumé

This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic path planning in robotics.
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Dates et versions

hal-00374571 , version 1 (09-04-2009)

Identifiants

Citer

R. Pepy, Michel Kieffer, Eric Walter. Reliable robust path planning. International Journal of Applied Mathematics and Computer Science, 2009, 19 (3), pp.413-424. ⟨10.2478/v10006-009-0034-2⟩. ⟨hal-00374571⟩
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