Real-Time Fast Marching Tree for Mobile Robot Motion Planning in Dynamic Environments

Authors: Jefferson Silveira, Kleber Cabral, Sidney Givigi, Joshua A. Marshall

Published: 2025 (Conference Paper)

Source: IEEE International Conference on Robotics and Automation (ICRA)

Algorithm: RT-FMT

arXiv: 2502.09556

DOI: 10.1109/ICRA48891.2023.10160595

Summary

Basically makes FMT* operable in real-time fashion. Essentially the FMT* version of RT-RRT*.

Abstract

This paper proposes the Real-Time Fast Marching Tree (RT-FMT), a real-time planning algorithm that features local and global path generation, multiple-query planning, and dynamic obstacle avoidance. During the search, RT-FMT quickly looks for the global solution and, in the meantime, generates local paths that can be used by the robot to start execution faster. In addition, our algorithm constantly rewires the tree to keep branches from forming inside the dynamic obstacles and to maintain the tree root near the robot, which allows the tree to be reused multiple times for different goals. Our algorithm is based on the planners Fast Marching Tree (FMT*) and Real-time Rapidly-Exploring Random Tree (RT-RRT*). We show via simulations that RT-FMT outperforms RT- RRT* in both execution cost and arrival time, in most cases. Moreover, we also demonstrate via simulation that it is worthwhile taking the local path before the global path is available in order to reduce arrival time, even though there is a small possibility of taking an inferior path.

Links

Primary

Paper arxiv.org

Standard

arXiv Abstract 2502.09556 arXiv PDF 2502.09556 arXiv HTML 2502.09556 DOI 10.1109/ICRA48891.2023.10160595

Alternate

ieeexplore.ieee.org ieeexplore.ieee.org GitHub: offroad-robotics/rt-fmt-icra github.com

Tags

• Motion planning

• Sampling-based planning

• Dynamic environments

• Replanning

• FMT*

• Real-time planning