1. Combining Safe Interval Path Planning and Constrained Path Following Control: Preliminary Results
- Author
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Yakovlev, Konstantin, Andreychuk, Anton, Belinskaya, Juliya, and Makarov, Dmitry
- Subjects
FOS: Computer and information sciences ,Computer Science::Robotics ,Computer Science - Robotics ,Optimization and Control (math.OC) ,FOS: Mathematics ,Robotics (cs.RO) ,Mathematics - Optimization and Control - 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., Camera-ready version of the paper as submitted to ICR'19
- Published
- 2019