This video demonstrates Dynamic Risk Tolerance (DRT) motion planning and comparison methods for a holonomic point robot in an environment crowded by 20 stochastically moving obstacle that can move un to 1.56 times faster than the robot.
Compare to traditional planners, DRT motion planning explores long-term paths in order to avoid navigating the robot into inevitable collision states.
This video is also published in:
[Hao-Tien Chiang, Baisravan HomChauhudri, Lee Smith, Lydia Tapia, "Safety, Challenges, and Performance of Motion Planners in Dynamic Environments", In 2017 International Symposium of Robotics Research (ISRR), Puerto Varas, Chile, Dec. 2017]
The manuscript is available at:
[ Ссылка ]
