Path Planning for Robotic Manipulators in Dynamic Environments Using Distance Information
Nermin Covic, Bakir Lacevic, Dinko Osmankovic
Abstract
In this paper, we present a novel algorithm – DRGBT (Dynamic Rapidly-exploring Generalized Bur Tree), intended for motion planning in dynamic environments. The main idea behind DRGBT lies in a so-called adaptive horizon, consisting of a set of prospective target nodes that belong to a predefined \mathcal{C}C\mathcal{C}-space path, which originates from the current node. Each node is assigned a weight that depends on relative distances and captured changes in the environment. The algorithm continuously uses a suitable horizon assessment to decide when to trigger the replanning procedure. A comprehensive simulation study is performed, covering a variety of manipulators, where DRGBT is compared to a state-of-the-art algorithm. Results indicate some promising features of the proposed method.
BibTeX
@inproceedings{iros2021_pathplanningforr,
title = {Path Planning for Robotic Manipulators in Dynamic Environments Using Distance Information},
author = {Nermin Covic and Bakir Lacevic and Dinko Osmankovic},
booktitle = {IROS 2021},
year = {2021}
}