通过RRT * 进行理性疏忽路径规划
Rationally Inattentive Path-Planning via RRT*
摘要：
我们考虑的路径规划方案的移动机器人在配置空间中的障碍物下存在的随机干扰。在不确定配置空间上提出了一种新的路径长度度量，并与现有的RRT* 算法相结合。该度量是两个项的加权和，这两个项捕获机器人行进的欧几里得距离和感知成本，即，机器人必须感知的环境信息量，以安全地遵循路径。路径长度函数的拓扑结构的总变差度量的连续性示出和最优性的理性疏忽RRT* 算法进行了讨论。三个数值研究显示新算法的实用性。
英文摘要：
We consider a path-planning scenario for a mobile robot traveling in a configuration space with obstacles under the presence of stochastic disturbances. A novel path length metric is proposed on the uncertain configuration space and then integrated with the existing RRT* algorithm. The metric is a weighted sum of two terms which capture both the Euclidean distance traveled by the robot and the perception cost, i.e., the amount of information the robot must perceive about the environment to follow the path safely. The continuity of the path length function with respect to the topology of the total variation metric is shown and the optimality of the Rationally Inattentive RRT* algorithm is discussed. Three numerical studies are presented which display the utility of the new algorithm.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
