Kinodynamic RRT*: Asymptotically optimal motion planning for robots with linear dynamics

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 5054-5061

  Webb, Dustin J ^a   Van Den Berg, Jur ^a  

^a University of Utah   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC OPTIMALITY; ASYMPTOTICALLY OPTIMAL; CLOSED FORM SOLUTIONS; COMPUTATIONAL OVERHEADS; DOUBLE-INTEGRATOR DYNAMICS; HOLONOMIC ROBOTS; NON-LINEAR DYNAMICS; OPTIMAL TRAJECTORIES;

MOTION PLANNING; OPTIMIZATION; ROBOTICS; ROBOTS; TRAJECTORIES;

DYNAMICS;

EID: 84887304633     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6631299     Document Type: Conference Paper

References (19)

1. C.Bond.Jenkins-Traub real polynomial root finder.http://www.crbond.com. 2002.
2. R.Burden, D.Faires.Numerical Analysis.Brooks/Cole, 2001.
3. M.de Berg, M.van Kreveld, M.Overmars, O.Schwartzkopf.Computational Geometry: Algorithms and Applications.Springer, 2000.
4. B.Donald, P.Xavier, J.Canny, J.Reif.Kinodynamic motion planning.Journal of the ACM 40(5):1048-1066, 1993.
5. J.Jeon, S.Karaman, E.Frazzoli.Anytime computation of timeoptimal off-road vehicle maneuvers using the RRT.IEEE Conf.on Decision and Control, 2011.
6. R.Geraerts, M.Overmars.Creating high-quality paths for motion planning.Int.J.of Robotics Research, 26(8):845-863, 2007.
7. E.Glassman, R.Tedrake.A quadratic regulator-based heuristic for rapidly exploring state space.IEEE Int.Conf.on Robotics and Automation, 2010.
8. S.Karaman, E.Frazzoli.Incremental sampling-based algorithms for optimal motion planning.Robotics: Science and Systems, 2010.
9. S.Karaman, E.Frazzoli.Optimal kinodynamic motion planning using incremental sampling-based methods.IEEE Conf.on Decision and Control, 2010.
10. S.Karaman, E.Frazzoli.Sampling-based algorithms for optimal motion planning.Int.J.of Robotics Research 30(7):846-894, 2011.
11. L.Kavraki, P.Svestka, J.-C.Latombe, M.Overmars.Probabilistic roadmaps for path planning in high-dimensional configuration spaces.IEEE Trans.on Robotics and Automation 12(4):566580, 1996.
12. J.-C.Latombe.Robot Motion Planning, Kluwer Academic Publishers, Boston, 1991.
13. S.LaValle, J.Kuffner.Randomized kinodynamic planning.Int.J.of Robotics Research 20(5):378-400, 2001.
14. S.LaValle.Planning Algorithms.Cambridge University Press, New York, 2006.
15. F.Lewis, V.Syrmos.Optimal Control.John Wiley &Sons, 1995.
16. J.Marble, K.Bekris.Towards small asymptotically near-optimal roadmaps.IEEE Int.Conf.on Robotics and Automation, 2012.
17. N.Michael, D.Mellinger, Q.Lindsey, V.Kumar.The GRASP multiple mirco-UAV test bed: experimental evaluation of multirobot aerial control algorithms.IEEE Robotics and Automation Magazine 17(3):56-65, 2010.
18. A.Perez, R.Platt, G.Konidaris, L.Kaelbling, T.Lozano-Perez.LQRRRT: Optimal sampling-based motion planning with automatically derived extension heuristics.IEEE Conf.on Robotics and Automation, 2012.
19. R.Tedrake.LQR-Trees: Feedback motion planning on sparse randomized trees.Robotics: Science and Systems, 2009.