RG-Trees: Trajectory-Free Feedback Motion Planning Using Sparse Random Reference Governor Trees

Date

2018-10-05

Author

Gölbol, Ferhat
Ankaralı, Mustafa Mert
Saranlı, Afşar

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

238
views

0
downloads

Sampling based methods resulted in feasible and effective motion planning algorithms for high dimensional configuration spaces and complex environments. A vast majority of such algorithms as well as their application rely on generating a set of open-loop trajectories first, which are then tracked by feedback control policies. However, controlling a dynamic robot to follow the planned path, while respecting the spatial constraints originating from the obstacles is still a challenging problem. There are some studies which combine statistical sampling techniques and feedback control methods which address this challenge using different approaches. From the feedback control theory perspective, Reference Governors proved to be a useful framework for constraint enforcement. Very recently, Arslan and Koditschek (2017) introduced a feedback motion planner that utilizes Reference Governors that provably solves the motion planning problem in simplified spherical worlds. In this context, here we propose a “trajectory-free” novel feedback motion planning algorithm which combines the two ideas: random trees and reference governors. Random tree part of the algorithm generates a collision-free region as a set of connected simple polygonal regions. Then, reference governor part navigates the dynamic robot from one region to the adjacent region in the tree structure, ensuring it stays inside the current region and asymptotically reaches to the connected region. Eventually, our algorithm robustly routes the robot from the start location to the goal location without collision. We demonstrate the validity and feasibility of the algorithm on simulation studies.

Subject Keywords

Robots, Navigation, Aerospace electronics , Dynamics, Collision avoidance, ,

URI

https://hdl.handle.net/11511/37109

DOI

https://doi.org/10.1109/iros.2018.8594447

Conference Name

International Conference on Intelligent Robots and Systems (IROS)

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

RG-trees: trajectory-free feedback motion planning using sparse random reference governor trees Gölbol, Ferhat; Alatan, Abdullah Aydın; Ankaralı, Mustafa Mert; Department of Electrical and Electronics Engineering (2018) Sampling based methods resulted in feasible and effective motion planning algorithms for high dimensional configuration spaces and complex environments. A vast majority of such algorithms as well as their application rely on generating a set of open-loop trajectories first, which are then tracked by feedback control policies. However, controlling a dynamic robot to follow the planned path, while respecting the spatial constraints originating from the obstacles is still a challenging problem. There are some ...
Attitude estimation and magnetometer calibration using reconfigurable TRIAD plus filtering approach Söken, Halil Ersin (Elsevier BV, 2020-04-01) This paper proposes using TRIAD and Unscented Kalman Filter (UKF) algorithms in a sequential architecture as a part of a small satellite attitude estimation algorithm. This TRIAD+UKF approach can both provide accurate attitude estimates for the satellite and calibrate the magnetometers in real-time. A complete calibration model for the magnetometers, considering bias, scale factor, soft iron and nonorthogonality errors, is assumed. In the algorithm's first stage, the TRIAD uses the available vector measurem...
Fine resolution frequency estimation from three DFT samples: Case of windowed data Candan, Çağatay (2015-09-01) An efficient and low complexity frequency estimation method based on the discrete Fourier transform (DFT) samples is described. The suggested method can operate with an arbitrary window function in the absence or presence of zero-padding. The frequency estimation performance of the suggested method is shown to follow the Cramer-Rao bound closely without any error floor due to estimator bias, even at exceptionally high signal-to-noise-ratio (SNR) values.
Two-dimensional unsteady Navier-Stokes solution method with moving overset grids Tuncer, İsmail Hakkı (American Institute of Aeronautics and Astronautics (AIAA), 1997-03-01) A simple numerical algorithm to localize intergrid boundary points and to interpolate unsteady solution variables across two-dimensional, structured overset grids is presented. Overset grids are allowed to move in time relative to each other. Intergrid boundary points are localized in a triangular stencil on the donor grid by a directional search algorithm. The final parameters of the search algorithm give the interpolation weights at the intergrid boundary point. Numerical results are presented for steady ...
Nonlinear flutter calculations using finite elements in a direct Eulerian-Lagrangian formulation Seber, Guclu; Bendiksen, Oddvar O. (American Institute of Aeronautics and Astronautics (AIAA), 2008-06-01) A fully nonlinear aeroelastic formulation of the direct Eulerian-Lagrangian computational scheme is presented in which both structural and aerodynamic nonlinearities are treated without approximations. The method is direct in the sense that the calculations are done at the finite element level, both in the fluid and structural domains, and the fluid-structure system is time-marched as a single dynamic system using a multistage Runge-Kutta scheme. The exact nonlinear boundary condition at the fluid-structure...

Citation Formats

F. Gölbol, M. M. Ankaralı, and A. Saranlı, “RG-Trees: Trajectory-Free Feedback Motion Planning Using Sparse Random Reference Governor Trees,” presented at the International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/37109.