BYU

Abstract by Dallin Clayton

Personal Infomation


Presenter's Name

Dallin Clayton

Co-Presenters

Jordan Mattingley
Matthew Osborne

Degree Level

Undergraduate

Co-Authors

Jordan Mattingley
Matthew Osborne

Abstract Infomation


Department

Computer Science

Faculty Advisor

Mike Goodrich

Title

Dynamically Feasible, Energy Efficient Robot Path Planning

Abstract

In the realm of robot path planning, euclidean distance is usually the only heuristic considered when choosing a path. We are proposing a method of augmenting the RRT* algorithm that accounts for both dynamic feasibility and energy efficiency. This will allow robots to plan paths that are both possible to follow and make better use of available resources, such as battery power, while still accomplishing objectives. This will increase performance of robots in many applications, including military, home, and industrial settings. The ultimate goal is to combine this planner with many others in an interface that can understand a user’s intent and choose the optimal tradeoff of objectives to accomplish that intent.