Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning
Motion planning is a crucial, basic issue in robotics, which aims at driving vehicles or robots towards to a given destination with various constraints, such as obstacles and limited resource. This paper presents a new version of rapidly exploring random trees (RRT), that is, liveness-based RRT (Li-...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2017-01-01
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| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2017/7816263 |
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| _version_ | 1832564116573650944 |
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| author | Yang Li Fubin Zhang Demin Xu Jiguo Dai |
| author_facet | Yang Li Fubin Zhang Demin Xu Jiguo Dai |
| author_sort | Yang Li |
| collection | DOAJ |
| description | Motion planning is a crucial, basic issue in robotics, which aims at driving vehicles or robots towards to a given destination with various constraints, such as obstacles and limited resource. This paper presents a new version of rapidly exploring random trees (RRT), that is, liveness-based RRT (Li-RRT), to address autonomous underwater vehicles (AUVs) motion problem. Different from typical RRT, we define an index of each node in the random searching tree, called “liveness” in this paper, to describe the potential effectiveness during the expanding process. We show that Li-RRT is provably probabilistic completeness as original RRT. In addition, the expected time of returning a valid path with Li-RRT is obviously reduced. To verify the efficiency of our algorithm, numerical experiments are carried out in this paper. |
| format | Article |
| id | doaj-art-370061bf74924bc895b055461001a663 |
| institution | Kabale University |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-370061bf74924bc895b055461001a6632025-02-03T01:11:48ZengWileyJournal of Advanced Transportation0197-67292042-31952017-01-01201710.1155/2017/78162637816263Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion PlanningYang Li0Fubin Zhang1Demin Xu2Jiguo Dai3The School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaThe School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaThe School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaDepartment of Mechanical Engineering, Texas Tech University, Lubbock, TX 79409, USAMotion planning is a crucial, basic issue in robotics, which aims at driving vehicles or robots towards to a given destination with various constraints, such as obstacles and limited resource. This paper presents a new version of rapidly exploring random trees (RRT), that is, liveness-based RRT (Li-RRT), to address autonomous underwater vehicles (AUVs) motion problem. Different from typical RRT, we define an index of each node in the random searching tree, called “liveness” in this paper, to describe the potential effectiveness during the expanding process. We show that Li-RRT is provably probabilistic completeness as original RRT. In addition, the expected time of returning a valid path with Li-RRT is obviously reduced. To verify the efficiency of our algorithm, numerical experiments are carried out in this paper.http://dx.doi.org/10.1155/2017/7816263 |
| spellingShingle | Yang Li Fubin Zhang Demin Xu Jiguo Dai Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning Journal of Advanced Transportation |
| title | Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning |
| title_full | Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning |
| title_fullStr | Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning |
| title_full_unstemmed | Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning |
| title_short | Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning |
| title_sort | liveness based rrt algorithm for autonomous underwater vehicles motion planning |
| url | http://dx.doi.org/10.1155/2017/7816263 |
| work_keys_str_mv | AT yangli livenessbasedrrtalgorithmforautonomousunderwatervehiclesmotionplanning AT fubinzhang livenessbasedrrtalgorithmforautonomousunderwatervehiclesmotionplanning AT deminxu livenessbasedrrtalgorithmforautonomousunderwatervehiclesmotionplanning AT jiguodai livenessbasedrrtalgorithmforautonomousunderwatervehiclesmotionplanning |