RiskRRT-based planning for interception of moving objects in complex environments

Abstract

This paper presents a new approach for the interception of moving objects using UGVs in large complex environments. The planning for interception is based on the Risk-RRT algorithm. Several modifications have been made to the base algorithm to enhance its ability to move in uncertain environments. The planner is integrated with a navigation architecture. The full system is capable of parallel on-line planning and following of the path. It performs the interception and at the same time it avoids static and dynamic obstacles. Several tests, both in simulation and with real world robots, were carried out showing the effectiveness of the proposed system.