TY - GEN
T1 - Time-based RRT algorithm for rendezvous planning of two dynamic systems
AU - Sintov, Avishai
AU - Shapiro, Amir
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - The work presented in this paper proposes a new method for time based motion planning of a dynamic system to reach a dynamical goal within a specified time. The method enables trajectory planning based on the dynamics of the system with time constraint. Moreover, this method allows rendezvous planning of two dynamic systems where only one is controlled. To reach this objective, we introduce a new concept termed Time-Based RRT (TB-RRT) which is an extended version of the Rapidly-exploring Random Tree (RRT). The concept of the TB-RRT is to add time parameters to the nodes in the tree such that each node denotes a specific state in a specific time. The algorithm was implemented in two applications to demonstrate the approach and validate its feasibility; The first application is a one degree of freedom bat hitting a ball and the second application is a three degrees of freedom manipulator catching a moving object. Simulation results show the system accurately following the planned trajectory and the robot catching the object in time.
AB - The work presented in this paper proposes a new method for time based motion planning of a dynamic system to reach a dynamical goal within a specified time. The method enables trajectory planning based on the dynamics of the system with time constraint. Moreover, this method allows rendezvous planning of two dynamic systems where only one is controlled. To reach this objective, we introduce a new concept termed Time-Based RRT (TB-RRT) which is an extended version of the Rapidly-exploring Random Tree (RRT). The concept of the TB-RRT is to add time parameters to the nodes in the tree such that each node denotes a specific state in a specific time. The algorithm was implemented in two applications to demonstrate the approach and validate its feasibility; The first application is a one degree of freedom bat hitting a ball and the second application is a three degrees of freedom manipulator catching a moving object. Simulation results show the system accurately following the planned trajectory and the robot catching the object in time.
UR - http://www.scopus.com/inward/record.url?scp=84929223554&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907855
DO - 10.1109/ICRA.2014.6907855
M3 - Conference contribution
AN - SCOPUS:84929223554
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6745
EP - 6750
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -