motion planning in dynamic environments two challenges for optimal path planning
TRANSCRIPT
Motion Planning in Dynamic Environments
Two Challenges for Optimal Path planning
Classic Two-Layered Architecture for Mobile Robots
Dynamic Window
Approach (DWA)
Dynamic Window Approach
Admissible Velocities
Reachable Velocities
DWA Search Space
Dynamic Window Approach
Dynamic Window Approach
Dynamic Window Approach
Dynamic Window Approach
Dynamic Window Approach
Dynamic Window Approach
Dynamic Window Approach: PLUSES of this method
Problems of DWA
Robot Path Planning with A*
Robot Path Planning with A*
A*: Minimize the estimated Path Costs
Example: Path Planning for Robots in a Grid-World
Deterministic Value Iteration
Typical Assumption in Robotics for A* Path Planning
Problems with A* for robot path planning
Convolution of the Grid Map
Convolution of the Grid Map
Example: Map Convolution
5D – Planning. An Alternative to Two-Layered
Architecture
The Search Space
The Search Space Problem formulation
The Search Space Problem Formalization (2)
• What is the problem?• What is a solution?
The Main Steps of the 5D algorithm
Updating the Grid Map
Find a Path in the 2D-Space
Restricting the Search Space
Space Restriction
Find a Path in the Five Dimensional Space
Example and Comparisons to other
approaches
Example
Timeouts
Alternative Steering Command
Timeout Avoidance
Another Example and Comparisons
Summary
What else should be discussed?