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Combining Safe Interval Path Planning and Constrained Path Following Control: Preliminary Results

  • Konstantin Yakovlev
  • Anton AndreychukEmail author
  • Julia Belinskaya
  • Dmitry Makarov
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11659)

Abstract

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable of handling any-angle translations and rotations. Second, the path following problem is treated as the constrained control problem and the original flatness-based approach is proposed to generate control. We suggest a few enhancements for the path planning algorithm aimed at finding trajectories that are more likely to be followed by a robot without collisions. Results of the conducted experimental evaluation show that the number of successfully solved navigation instances significantly increases when using the suggested techniques.

Keywords

Path planning Path finding AA-SIPP Differentially flat systems Point-to-point control problem 

Notes

Acknowledgments

This work was partially supported by RFBR Grant no. 18-37-20032 and by the “RUDN University Program 5-100”.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Artificial Intelligence Research InstituteFederal Research Center “Computer Science and Control” of Russian Academy of SciencesMoscowRussia
  2. 2.National Research University Higher School of EconomicsMoscowRussia
  3. 3.Peoples’ Friendship University of Russia (RUDN University)MoscowRussia
  4. 4.Bauman Moscow State Technical UniversityMoscowRussia
  5. 5.Moscow Institute of Physics and TechnologyDolgoprudnyRussia

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