Abstract
Motion Planning in an unknown, time-varying environment is a relevant problem in present day robotics. While there exist many probabilistic and resolution complete algorithms for motion planning in dynamic environments, each of these are limited by various constraints. This paper presents triangulation based motion planning in unknown dynamic environments. Our novel idea is implemented in two stages. In the first stage, a global path is computed considering only static obstacles in the configuration space. The second stage of implementation uses our proposed algorithm T-star (T*) for replanning the global path according to real time considerations. We demonstrate the effectiveness of our novel idea in multiple simulation environments with more then 20 simultaneously moving obstacles.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
