HRA*: hybrid randomized path planning for complex 3D environments
Document typeConference report
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
European Commission's projectARCAS - Aerial 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
CitationTeniente, 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.