Reliable Robust Path Planning with Application to Mobile Robots

Pepy, Romain; Kieffer, Michel; Walter, Eric

doi:10.2478/v10006-009-0034-2

Abstract

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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Reliable Robust Path Planning with Application to Mobile Robots

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