Real Time Motion Planning

Introduction  What is Real time Motion Planning?  What is the need for real time motion Planning?  Example scenarios in real life

Real Time Motion Planning  Problem of a moving vehicle  Computational Complexity  Solutions?

PRM  Concept of PRM  Is it always feasible?

RRT  Concept of RRT  Dependencies?

Central Idea  Motion Planning Framework  System Dynamics  Obstacle Free Guidance Systems  Environment Characterization  Problem Foundation

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

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?

Steps in Involved  Initialization  Tree Expansion  Safety Check  Updating Costs  Tree Pruning

Pictoral Representation

Thank You  Questions?