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Real Time Motion Planning
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Introduction
What is Real time Motion Planning?
What is the need for real time motion Planning?
Example scenarios in real life
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Real Time Motion Planning
Problem of a moving vehicle
Computational Complexity
Solutions?
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PRM
Concept of PRM
Is it always feasible?
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RRT
Concept of RRT
Dependencies?
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Central Idea
Motion Planning Framework System Dynamics Obstacle Free Guidance Systems Environment Characterization Problem Foundation
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Algorithm
Start from Initial conditions.
Compute trajectories and build a tree structure
At each step add a new branch (edge) and a new milestone (node) to the tree
Add feasible trajectories to the tree
Repeat till one of the nodes is close to the goal
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Data Structure
Data stored at Nodes State,Time Lower and upper bound cost
Data Stored at edges What could they stand for? What could be stored?
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Steps in Involved
Initialization
Tree Expansion
Safety Check
Updating Costs
Tree Pruning
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Pictoral Representation
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Thank You
Questions?