Enhancing RRT planning for interception with distance and probability maps based on FMM

David Garzón-Ramos, Mario Garzón*, Jorge De León, Antonio Barrientos

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeChapterScientificpeer-review


This article presents a new approach to the interception of moving targets in large and complex scenarios. The path planning for interception is based on the Risk-RRT algorithm, which is enhanced by integrating additional information obtained using Fast Marching Method algorithms. Two different techniques based on that method were adapted and integrated within the Risk-RRT, one that obtains the travel distance to the target location and another that estimates the probability of interception at a given point. The proposed approach effectively combines that environmental information with the kinodynamic path planning created by Risk-RRT. The combination of those two algorithms proved to be capable of on-line planning and following an effective interception path, while maintaining the functions of obstacle evasion, handling of uncertainties and reactive navigation.

Original languageEnglish
Title of host publicationAdvances in Intelligent Systems and Computing
Number of pages12
Publication statusPublished - 2018
Externally publishedYes

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357


  • Fast marching method
  • Planning for interception
  • RRT


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