RoA-Planner: Rotatable Area-Based Path Planner in Dense Spaces
Yeongwoo Son, Hyunyong Lee, Hansol Kang, Jiman Park, Seongwon Nam, Jaeyoung Oh, Bumsu Yi, Junha Song,
Sooyeon Choi, Bogeun Kim, Daegeun Song and Hyouk Ryeol Choi*,
Fellow
,
IEEE
School of Mechanical Engineering, Sungkyunkwan University, Korea
E-mail: ywson96@gmail.com, choihyoukryeol@gmail.com
Journal Personal WebsiteVideo
Validations in Obstacle-dense and Narrow Spaces
Framework
Generation
Area condition for Safe Rotation
∃𝑹
𝒊𝒏𝒕𝒆𝒓
, 𝑹
𝒊𝒏𝒕𝒆𝒓
= 𝑹
𝟏
∩ 𝑹
𝟐
Two RoAs must possess angular intersections.
Rotatable Area (RoA)
The range of yaw angles from 𝝍
𝒔
to 𝝍
𝒆
over which the robot can safely rotate at
the position (𝒙,𝒚)
𝑻
without colliding with obstacles.
𝑹 = (𝒙, 𝒚, 𝝍
𝒔
, 𝝍
𝒆
)
Fully-RoA (𝑅
𝐹
) Non-RoA (𝑅
𝑁
)
Partially-RoA (𝑅
𝑃,𝑖
)
Edge condition for Safe Translation
𝒍 ≤ 𝒍
𝒎𝒂𝒙
(𝜸, 𝝍)
Motion space
must be contained in
safe space.
𝑺
𝒎
⊆ 𝑺
𝒔
1)
Safe space
must be connected.
2)
Safe width
must be larger than
motion width
.
Distance between two RoAs must be below
ｍaximum length
.