Reachability Based Risk-Aware Planner
A path planning algorithm that generates safe trajectories by minimizing risk around obstacles.
RiP-Planner Overview
RiP: Reachability based (Ri)sk Aware Planner
RiP is a path planning algorithm which leverages reachability-based trajectory design to generate a minimum risk path for a vehicle in the presence of obstacles. The risk is minimized by assigning risk boundaries around the obstacles and then optimizing the path for both length and risk. This algorithm is ideally suited for missions where safety is paramount and obstacles are adversarial.
A sample output of our algorithm is shown below. As observed, the final trajectory avoids the low-risk zone for as long as possible and completely steers clear of the high-risk zone for different goal points.
RiP-Planner Simulation
Below is an animated simulation demonstrating the RiP-Planner in action:
