Abstract by Dallin Clayton
Dynamically Feasible, Energy Efficient Robot Path Planning
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.