Search-Based Online Trajectory Planning for Car-Like Robots in Highly Dynamic Environments

Jiahui Lin1; Tong Zhou1; Delong Zhu1; Jianbang Liu1; Max Q.-H. Meng1,2,3

10.1109/ICRA48506.2021.9560852

2021

IEEE International Conference on Robotics and Automation

1050-4729

2577-087X

978-1-7281-9078-5

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)

2021-May

8151-8157

2021.5.31-2021.6.4

Xi'an, China

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

This paper presents a search-based partial motion planner for generating feasible trajectories of car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by exploring a state graph built on motion primitives. To enable fast online planning, we propose an efficient path searching algorithm based on the aggregation and pruning of motion primitives. We then propose a fast collision checking algorithm that takes into account the motions of moving obstacles. The algorithm linearizes relative motions between the robot and obstacles, and then checks collisions by calculating a point-line distance. Benefiting from the fast searching and collision checking algorithms, the planner can effectively explore the state-time space to generate near-time-optimal solutions. Experiments show that the proposed method can generate feasible trajectories within milliseconds while maintaining a higher success rate than up-to-date methods, which significantly demonstrates its advantages.

Trajectory planning Heuristic algorithms Conferences Dynamics Aerospace electronics Trajectory Space exploration

通讯

英语

CPCI-S ; EI

Hong Kong RGC GRF[14200618]

Automation & Control Systems ; Robotics

Automation & Control Systems ; Robotics

WOS:000771405401096

20220911738589

Automobiles ; Motion planning ; Robot programming

Automobiles:662.1 ; Computer Programming:723.1 ; Robotics:731.5

人工提交

1.The Chinese University of Hong Kong
2.Southern University of Science and Technology, Shenzhen, China
3.Shenzhen Research Institute of the Chinese University of Hong Kong, Shenzhen, China

Jiahui Lin,Tong Zhou,Delong Zhu,et al. Search-Based Online Trajectory Planning for Car-Like Robots in Highly Dynamic Environments[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:8151-8157.