Stereovision–based robot motion planning with negotiation–selection mechanism in complex environments

An interactive mechanism and modular approach is proposed for hybrid motion planning. A bidirectional interaction is designed by deliberative candidates negotiating with the feedback on reactive evaluation. The deliberative module constructs a multilayer state lattice with switching control sets. Furthermore, a heuristic multitask–parallel algorithm efficiently generates desirable paths. The reactive module designs a hierarchical structure to integrate reaction optimisation and situation–dependent adjustment. Based on manifold correlations, piecewise criteria rather than a single function are proposed to cater for different stages of planning. Extensive experiments verify the efficacy, reliability and robustness of the approach in complex environments.


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  • Accession Number: 01496134
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Oct 4 2013 2:33PM