SIBCON 2021 - International Siberian Conference on Control and Communications
Empirical Evaluation of Theta∗-RRT and GRIPS Algorithms
Publication type: Proceedings Article
Publication date: 2021-05-13
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Abstract
Motion planning is a fundamental task for wheeled mobile robots. This task becomes challenging when the kinematic constraints of the robot (differential-drive, car-like, etc.) are to be taken into account. In this work we analyze and empirically compare two promising approaches to construct kinematically-feasible trajectories for differential drive robots – Theta*-RRT and GRIPS. Both of these approaches utilize geometric path planning but differ in the way how it is done. Theta*-RRT relies on sampling-based planning biased towards the geometric path. GRIPS modifies the path and tries to connect its elements with the steering function that respects kinematic constraints. We evaluate both approaches in simulation and on the real robot highlighting their pros and cons. Our evaluation shows that there is no universal winner and we provide suggestions on when to use specific method.
Citations by journals
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International Journal of Aerospace Engineering
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International Journal of Aerospace Engineering
1 publication, 100%
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Citations by publishers
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Hindawi Limited
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Hindawi Limited
1 publication, 100%
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Ali Z. et al. Empirical Evaluation of Theta∗-RRT and GRIPS Algorithms // SIBCON 2021 - International Siberian Conference on Control and Communications. 2021.
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Ali Z., Angulo B., Golovin V., Yakovlev K. Empirical Evaluation of Theta∗-RRT and GRIPS Algorithms // SIBCON 2021 - International Siberian Conference on Control and Communications. 2021.
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TY - CPAPER
DO - 10.1109/SIBCON50419.2021.9438901
UR - https://doi.org/10.1109%2FSIBCON50419.2021.9438901
TI - Empirical Evaluation of Theta∗-RRT and GRIPS Algorithms
T2 - SIBCON 2021 - International Siberian Conference on Control and Communications
AU - Ali, Zain
AU - Angulo, Brian
AU - Golovin, Vladislav
AU - Yakovlev, Konstantin
PY - 2021
DA - 2021/05/13 00:00:00
ER -
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@inproceedings{2021_Ali,
author = {Zain Ali and Brian Angulo and Vladislav Golovin and Konstantin Yakovlev},
title = {Empirical Evaluation of Theta∗-RRT and GRIPS Algorithms},
year = {2021},
month = {may}
}
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