KRRF: Kinodynamic Rapidly-exploring Random Forest algorithm for multi-goal motion planning
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00377429" target="_blank" >RIV/68407700:21230/24:00377429 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2024.3478570" target="_blank" >https://doi.org/10.1109/LRA.2024.3478570</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2024.3478570" target="_blank" >10.1109/LRA.2024.3478570</a>
Alternative languages
Result language
angličtina
Original language name
KRRF: Kinodynamic Rapidly-exploring Random Forest algorithm for multi-goal motion planning
Original language description
The problem of kinodynamic multi-goal motion planning is to find a trajectory over multiple target locations with an apriori unknown sequence of visits. The objective is to minimize the cost of the trajectory planned in a cluttered environment for a robot with a kinodynamic motion model. This problem has yet to be efficiently solved as it combines two NP-hard problems, the Traveling Salesman Problem (TSP) and the kinodynamic motion planning problem. We propose a novel approximate method called Kinodynamic Rapidly-exploring Ran- dom Forest (KRRF) to find a collision-free multi-goal trajectory that satisfies the motion constraints of the robot. KRRF simul- taneously grows kinodynamic trees from all targets towards all other targets while using the other trees as a heuristic to boost the growth. Once the target-to-target trajectories are planned, their cost is used to solve the TSP to find the sequence of targets. The final multi-goal trajectory satisfying kinodynamic constraints is planned by guiding the RRT-based planner along the target-to- target trajectories in the TSP sequence. Compared with existing approaches, KRRF provides shorter target-to-target trajectories and final multi-goal trajectories with 1.1 - 2 times lower costs while being computationally faster in most test cases. The method will be published as an open-source library.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Robotics and Automation Letters
ISSN
2377-3766
e-ISSN
2377-3766
Volume of the periodical
9
Issue of the periodical within the volume
12
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
10724-10731
UT code for WoS article
001466141700001
EID of the result in the Scopus database
2-s2.0-85207037891