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- W2767258538 abstract "This article presents a new approach to the interception of moving targets in large and complex scenarios. The path planning for interception is based on the Risk-RRT algorithm, which is enhanced by integrating additional information obtained using Fast Marching Method algorithms. Two different techniques based on that method were adapted and integrated within the Risk-RRT, one that obtains the travel distance to the target location and another that estimates the probability of interception at a given point. The proposed approach effectively combines that environmental information with the kinodynamic path planning created by Risk-RRT. The combination of those two algorithms proved to be capable of on-line planning and following an effective interception path, while maintaining the functions of obstacle evasion, handling of uncertainties and reactive navigation." @default.
- W2767258538 created "2017-11-17" @default.
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- W2767258538 date "2017-11-12" @default.
- W2767258538 modified "2023-09-24" @default.
- W2767258538 title "Enhancing RRT Planning for Interception with Distance and Probability Maps Based on FMM" @default.
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- W2767258538 doi "https://doi.org/10.1007/978-3-319-70833-1_70" @default.
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