Publications Details
Motion Primitive Path Planning Under Uncertainty for High-Speed Vehicles
Motion primitives provide an approach to kinodynamic path planning that does not require online solution of the equations of motion, permitting the use of complex high-fidelity models. The path planning problem with motion primitives is a Markov Decision Process (MDP) with the primitives defining the available actions. Uncertainty in evolution of the primitives means that there is uncertainty in the state resulting from each action. In this work, uncertain motion primitive planning is demonstrated for a high speed glide vehicle. A nonlinear 6- degree-of-freedom model is used to generate the primitive library, and the motion primitive planning problem is formulated so that the transition probabilities in the MDP may have a functional dependence on the state of the system. Single-query solutions to planning problems incorporating operational envelope constraints and no-fly zones are obtained using AO* under chance constraints on the risk of mission failure.