State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments

Thomas Howard, Colin Green, and Alonzo Kelly
Proceedings of the 6th International Conferences on Field and Service Robotics, July, 2007.


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Abstract
Sampling in the space of controls or actions is a well-established method for ensuring feasible local motion plans. However, as mobile robots advance in performance and competence in complex outdoor environments, this classical motion planning technique ceases to be effective. When environmental constraints severely limit the space of acceptable motions or when global motion planning expresses strong preferences, a state space sampling strategy is more effective. While this has been clear for some time, the practical question is how to achieve it while also satisfying the severe constraints of vehicle dynamic feasibility. This paper presents an effective algorithm for state space sampling based on a model-based trajectory generation approach. This method enables high-speed navigation in highly constrained and/or partially known environments such as trails, roadways, and dense off-road obstacle fields.

Notes
Associated Center(s) / Consortia: National Robotics Engineering Center
Associated Project(s): UGCV PerceptOR Integrated
Number of pages: 10

Text Reference
Thomas Howard, Colin Green, and Alonzo Kelly, "State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments," Proceedings of the 6th International Conferences on Field and Service Robotics, July, 2007.

BibTeX Reference
@inproceedings{Howard_2007_5918,
   author = "Thomas Howard and Colin Green and Alonzo Kelly",
   title = "State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments",
   booktitle = "Proceedings of the 6th International Conferences on Field and Service Robotics",
   month = "July",
   year = "2007",
}