Any-time randomized kinodynamic path planning algorithm in dynamic environments with application to quadrotor

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Taheri E.

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Journal Paper

Paper Information

Journal: International Journal of Engineering Year:2021 | Volume:34 | Issue:10 Page(s): 2360-2370

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Title

Any-time randomized kinodynamic path planning algorithm in dynamic environments with application to quadrotor

Author(s)

Taheri E. | Issue Writer Certificate

Keywords

Kinodynamic path planning

Rapidly-exploring Random Trees

Quadrotor

Collision Avoidance

Dynamic Obstacles

Abstract

Kinodynamic path planning is an open challenge in unmanned autonomous vehicles and is considered an NP-Hard problem. Planning a feasible path for vertical take-off and landing Quadrotor (VTOL-Q) from an initial state to a target state in 3D space by considering the environmental constraints such as moving obstacles avoidance and non-holonomic constraints such as hard bounds of VTOL-Q is the key motivation of this study. To this end, let us propose the any-time randomized kinodynamic (ATRK) path-planning algorithm applicable in the VTOL-Q. ATRK path-planning algorithm is based on the Rapidly-exploring Random Trees (RRT) and consists of three main components: high-level, mid-level, and low-level controller. The high-level controller utilizes a randomized sampling-based approach to generate offspring vertices for rapid exploring and expanding in the configuration space. The mid-level controller uses the any-time method to avoid collision with moving obstacles. The low-level controller with a six-DOF dynamic model accounts for the kinodynamic constraints of VTOL-Q in the randomized offspring vertices to plan a feasible path. Simulation results on three different test-scenario demonstrate the kinodynamic constraints of the VTOL-Q are integrated into the randomized offspring vertices. Also, in presence of moving obstacles, the ATRK re-plans the path in the local area as through an any-time approach.

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