期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 28, 期 2, 页码 379-395出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2011.2171613
关键词
Autonomous mobile robots; consistency; graph search; kinodynamic motion planning; motion planning
类别
Motion planning for mobile vehicles involves the solution of two disparate subproblems: the satisfaction of high-level logical task specifications and the design of low-level vehicle control laws. A hierarchical solution of these two subproblems is efficient, but it may not ensure compatibility between the high-level planner and the constraints that are imposed by the vehicle dynamics. To guarantee such compatibility, we propose a motion-planning framework that is based on a special interaction between these two levels of planning. In particular, we solve a special shortest path problem on a graph at a higher level of planning, and we use a lower level planner to determine the costs of the paths in that graph. The overall approach hinges on two novel ingredients: a graph-search algorithm that operates on sequences of vertices and a lower level planner that ensures consistency between the two levels of hierarchy by providing meaningful costs for the edge transitions of a higher level planner using dynamically feasible, collision-free trajectories.
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