1 research outputs found
Single-Agent On-line Path Planning in Continuous, Unpredictable and Highly Dynamic Environments
This document is a thesis on the subject of single-agent on-line path
planning in continuous,unpredictable and highly dynamic environments. The
problem is finding and traversing a collision-free path for a holonomic robot,
without kinodynamic restrictions, moving in an environment with several
unpredictably moving obstacles or adversaries. The availability of perfect
information of the environment at all times is assumed.
Several static and dynamic variants of the Rapidly Exploring Random Trees
(RRT) algorithm are explored, as well as an evolutionary algorithm for planning
in dynamic environments called the Evolutionary Planner/Navigator. A
combination of both kinds of algorithms is proposed to overcome shortcomings in
both, and then a combination of a RRT variant for initial planning and informed
local search for navigation, plus a simple greedy heuristic for optimization.
We show that this combination of simple techniques provides better responses to
highly dynamic environments than the RRT extensions.Comment: 54 pages, Master of Science in Informatics Engineering thesi