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Static and Dynamic Path Planning Using Incremental Heuristic Search

Khattab, Asem (2017) Static and Dynamic Path Planning Using Incremental Heuristic Search. Other. Project Report. University of Twente.

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Abstract

Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the layout of the environment is changing as the agent acquires new information. Attention is then given to the problem of path planning in dynamic environments where there are moving obstacles in addition to the static ones. Specifically, a 2D car-like agent traversing in a 2D environment was considered. It was found that the traditional configuration-time space approach is unsuitable for producing trajectories consistent with the dynamic constraints of a car. A novel scheme is then suggested where the state space is 4D consisting of position, speed and time but the search is done in the 3D space composed by position and speed. Simulation tests shows that the new scheme is capable of efficiently producing trajectories respecting the dynamic constraint of a car-like agent with a bound on their optimality.

Item URL in elib:https://elib.dlr.de/116097/
Document Type:Monograph (Project Report, Other)
Title:Static and Dynamic Path Planning Using Incremental Heuristic Search
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Khattab, Asema.a.m.f.khattab (at) student.utwente.nlUNSPECIFIED
Date:27 November 2017
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:74
Editors:
EditorsEmailEditor's ORCID iD
Dariani, Rezareza.dariani@dlr.deUNSPECIFIED
Publisher:University of Twente
Status:Published
Keywords:path planning. Trajectory planning. Control. Optimal Control. Autonomous vehicle
Institution:University of Twente
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Braunschweig
Institutes and Institutions:Institute of Transportation Systems
Deposited By: Dariani, Dr.-Ing. Reza
Deposited On:29 Jan 2020 07:43
Last Modified:14 Feb 2020 15:28

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