From dynamic programming to RRTs: Algorithmic design of feasible trajectories

MaRDI QIDQ4460303zbMATH OpenFDO

Authors Steven M. LaValle

Publication date 18 May 2004

zbMATH Keywords

differential constraintsdynamic programmingfeasible robot trajectoriesglobal constraintsnonholonomic planningrandom treerobot collision

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Dynamic programming (90C39) Automated systems (robots, etc.) in control theory (93C85)

Review text

For problems arising in nonholonomic planning, the design of feasible robot trajectories under both differential constraints and global constraints (as e.g. arising from robot collision) on the state space is considered. Approximately optimal dynamic programming approaches and heuristics-based rapidly exploring random tree approaches for solving this problem are discussed. For the entire collection see [Zbl 1030.00055].

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(7)

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