KF-RRT: Obstacles Tracking and Safe Dynamic Motion Planning for Robotic Manipulators

摘要

This paper presents KF-RRT algorithm: a novel approach to path planning for robotic manipulators in dynamic environments. It is based on a modified RRT algorithm combined with Kalman filtering technique. RRT modification implies two aspects. The first one is related to continuous update of struc-ture/ordering within the tree to accommodate for online execution of the algorithm. The second one relies on forest-based replanning by combining connected components. On the other hand, Kalman filter is used to track/predict the motion of obstacles. Virtually augmented obstacles influence the growth of trees, which yields the improved safety margin of the resulting motion. KF-RRT is validated within a simulation study, where it is compared to comneting algorithms,