Risk-RRT*: A Robot Motion Planning Algorithm for the Human Robot Co-existing Environment
Refereed conference paper presented and published in conference proceedings

香港中文大學研究人員

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摘要In the human robot co-existing environment, to achieve the goal efficiently and safely is very meaningful for the mobile service robot. In this paper, a Risk based Rapidlyexploring Random Tree for optimal motion planning (RiskRRT*) algorithm is proposed by combining the comfort and collision risk (CCR) map with the RRT* algorithm, which provides a variant of the RRT* algorithm in the dynamic human robot co-existing environment. In the experiments, the time cost in the navigation process and the length of the trajectory are utilized for the evaluation of the proposed algorithm. A comparison with the Risk-RRT algorithm is carried out and experimental results reveal that our proposed algorithm can
achieve a better performance than that of the Risk-RRT in both the static and the dynamic environment.
著者Chi Wenzheng, Meng MaxQ.-H.
會議名稱2017 18th International Conference on Advanced Robotics (ICAR)
會議開始日10.07.2017
會議完結日12.07.2017
會議地點Hong Kong
會議國家/地區香港
會議論文集題名2017 18th International Conference on Advanced Robotics (ICAR)
出版年份2017
出版社IEEE
頁次583 - 588
國際標準書號978-1-5386-3158-4
電子國際標準書號978-1-5386-3157-7
語言美式英語

上次更新時間 2020-25-11 於 03:27