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International Conference on Interactive Collaborative Robotics

ICR 2019: Interactive Collaborative Robotics pp 310–319Cite as

Combining Safe Interval Path Planning and Constrained Path Following Control: Preliminary Results

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11659))

Abstract

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable of handling any-angle translations and rotations. Second, the path following problem is treated as the constrained control problem and the original flatness-based approach is proposed to generate control. We suggest a few enhancements for the path planning algorithm aimed at finding trajectories that are more likely to be followed by a robot without collisions. Results of the conducted experimental evaluation show that the number of successfully solved navigation instances significantly increases when using the suggested techniques.

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Acknowledgments

This work was partially supported by RFBR Grant no. 18-37-20032 and by the “RUDN University Program 5-100”.

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Authors and Affiliations

  1. Artificial Intelligence Research Institute, Federal Research Center “Computer Science and Control” of Russian Academy of Sciences, Moscow, Russia

    Konstantin Yakovlev, Anton Andreychuk, Julia Belinskaya & Dmitry Makarov

  2. National Research University Higher School of Economics, Moscow, Russia

    Konstantin Yakovlev

  3. Peoples’ Friendship University of Russia (RUDN University), Moscow, Russia

    Anton Andreychuk

  4. Bauman Moscow State Technical University, Moscow, Russia

    Julia Belinskaya

  5. Moscow Institute of Physics and Technology, Dolgoprudny, Russia

    Konstantin Yakovlev & Dmitry Makarov

Authors
  1. Konstantin Yakovlev
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  2. Anton Andreychuk
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  3. Julia Belinskaya
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  4. Dmitry Makarov
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Corresponding author

Correspondence to Anton Andreychuk .

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Editors and Affiliations

  1. Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Technical University of Munich, Munich, Germany

    Gerhard Rigoll

  3. Russian Academy of Sciences, Moscow, Russia

    Roman Meshcheryakov

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Yakovlev, K., Andreychuk, A., Belinskaya, J., Makarov, D. (2019). Combining Safe Interval Path Planning and Constrained Path Following Control: Preliminary Results. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2019. Lecture Notes in Computer Science(), vol 11659. Springer, Cham. https://doi.org/10.1007/978-3-030-26118-4_30

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  • DOI: https://doi.org/10.1007/978-3-030-26118-4_30

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-26117-7

  • Online ISBN: 978-3-030-26118-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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