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Dynamic path planning over CG-Space of 10DOF Rover with static and randomly moving obstacles using RRT* rewiring

Published online by Cambridge University Press:  07 January 2022

Shubhi Katiyar Open the ORCID record for Shubhi Katiyar [Opens in a new window]  and
Ashish Dutta Open the ORCID record for Ashish Dutta [Opens in a new window]
Shubhi Katiyar*
Affiliation:
Department of Mechanical Engineering, Indian Institute of Technology, Kanpur, Uttar Pradesh 208016, India
Ashish Dutta
Affiliation:
Department of Mechanical Engineering, Indian Institute of Technology, Kanpur, Uttar Pradesh 208016, India
*
*Corresponding author. E-mail: shubhipragya@gmail.com
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Abstract

Dynamic path planning is a core research content for intelligent robots. This paper presents a CG-Space-based dynamic path planning and obstacle avoidance algorithm for 10 DOF wheeled mobile robot (Rover) traversing over 3D uneven terrains. CG-Space is the locus of the center of gravity location of Rover while moving on a 3D terrain. A CG-Space-based modified RRT* samples a random space tree structure. Dynamic rewiring this tree can handle the randomly moving obstacles and target in real time. Simulations demonstrate that the Rover can obtain the target location in 3D uneven dynamic environments with fixed and randomly moving obstacles.

Keywords

dynamic path planningRRT* algorithmCG-SpaceRover
Type
Research Article
Information
Robotica , Volume 40 , Issue 8 , August 2022 , pp. 2610 - 2629
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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