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Potential and Sampling Based RRT Star for Real-Time Dynamic Motion Planning Accounting for Momentum in Cost Function

  • Saurabh Agarwal
  • Ashish Kumar Gaurav
  • Mehul Kumar Nirala
  • Sayan SinhaEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11307)

Abstract

Path planning is an extremely important step in every robotics related activity today. In this paper, we present an approach to a real-time path planner which makes use of concepts from the random sampling of the Rapidly-exploring random tree and potential fields. It revises the cost function to incorporate the dynamics of the obstacles in the environment. Not only the path generated is significantly different but also it is much more optimal and rigid to breakdowns and features faster replanning. This variant of the Real-Time RRT* incorporates artificial potential field with a revised cost function.

Keywords

Path planning Robotics RRT Potential energy Wavefront Doppler effect 

Notes

Acknowledgement

We thank Manjunath Bhatt (manjunathbhat9920@iitkgp.ac.in), Rahul Kumar (vernwalrahul@iitkgp.ac.in) and Shubham Maddhashiya (shubhamsipah@iitkgp.ac.in) for assisting us in this project and supporting us as and when required.

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Copyright information

© Springer Nature Switzerland AG 2018

Authors and Affiliations

  • Saurabh Agarwal
    • 1
  • Ashish Kumar Gaurav
    • 1
  • Mehul Kumar Nirala
    • 1
  • Sayan Sinha
    • 1
    Email author
  1. 1.Indian Institute of Technology KharagpurKharagpurIndia

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