HRA*: hybrid randomized path planning for complex 3D environments
Tipus de documentText en actes de congrés
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condicions d'accésAccés obert
Projecte de la Comissió EuropeaAerial Robotics Cooperative Assembly System (EC-FP7-287617)
We propose HRA*, a new randomized path planner for complex 3D environments. The method is a modified A* algorithm that uses a hybrid node expansion technique that combines a random exploration of the action space meeting vehicle kinematic constraints with a cost to goal metric that considers only kinematically feasible paths to the goal. The method includes also a series of heuristics to accelerate the search time. These include a cost penalty near obstacles, and a filter to prevent revisiting configurations. The performance of the method is compared against A*, RRT and RRT* in a series of challenging 3D outdoor datasets. HRA* is shown to outperform all of them in computation time, and delivering shorter paths than A* and RR
CitacióTeniente, E., Andrade-Cetto, J. HRA*: hybrid randomized path planning for complex 3D environments. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS 2013: New Horizon Conference Digest: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems: Tokyo, Big Sight, Tokyo, Japan, November 3-8, 2013". Tokyo: Institute of Electrical and Electronics Engineers (IEEE), 2013, p. 1766-1771.
Versió de l'editorhttp://ieeexplore.ieee.org/document/6696588/