Publication

HRA*: Hybrid randomized path planning for complex 3D environments

Conference Article

Conference

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Edition

2013

Pages

1766-1771

Doc link

http://dx.doi.org/10.1109/IROS.2013.6696588

File

Download the digital copy of the doc pdf document

Abstract

We propose HRA*, a new randomized path planner for complex 3D environments. The method is a modified A* algorithm that uses a hybrid node expansion technique that combines a random exploration of the action space meeting vehicle kinematic constraints with a cost to goal metric that considers only kinematically feasible paths to the goal. The method includes also a series of heuristics to accelerate the search time. These include a cost penalty near obstacles, and a filter to prevent revisiting configurations. The performance of the method is compared against A*, RRT and RRT* in a series of challenging 3D outdoor datasets. HRA* is shown to outperform all of them in computation time, and delivering shorter paths than A* and RRT.

Categories

robots.

Scientific reference

E.H. Teniente and J. Andrade-Cetto. HRA*: Hybrid randomized path planning for complex 3D environments, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, Tokyo, pp. 1766-1771.