Iterative methods for efficient sampling-based optimal motion planning of nonlinear systems

DOI10.2478/AMCS-2018-0012MaRDI QIDQ1787076zbMATH OpenOpenAlexWikidataFDO

Authors Jung-Su Ha, Han-Lim Choi, Jeong Hwan Jeon

Publication date 26 September 2018

Published in International Journal of Applied Mathematics and Computer Science (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International

Full work available at URL https://arxiv.org/abs/1603.04112

zbMATH Keywords

nonlinear dynamicsoptimal motion planningsampling-based algorithm

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Sampled-data control/observation systems (93C57)

Abstract: This paper extends the RRT* algorithm, a recently developed but widely-used sampling-based optimal motion planner, in order to effectively handle nonlinear kinodynamic constraints. Nonlinearity in kinodynamic differential constraints often leads to difficulties in choosing appropriate distance metric and in computing optimized trajectory segments in tree construction. To tackle these two difficulties, this work adopts the affine quadratic regulator-based pseudo metric as the distance measure and utilizes iterative two-point boundary value problem solvers for computing the optimized segments. The proposed extension then preserves the inherent asymptotic optimality of the RRT* framework, while efficiently handling a variety of kinodynamic constraints. Three numerical case studies validate the applicability of the proposed method.

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Cites work

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Cited in

(9)

• Pushing the boundaries of asymptotic optimality in integrated task and motion planning
• Maximizing the coverage of roadmap graph for optimal motion planning
• Convergence analysis of spatial-sampling-based algorithms for time-optimal smooth velocity planning
• Sequential virtual motion camouflage method for nonlinear constrained optimal trajectory control
• Multiquery motion planning in uncertain spaces: incremental adaptive randomized roadmaps
• The convex feasible set algorithm for real time optimization in motion planning
• State space sampling of feasible motions for high performance mobile robot navigation in highly constrained environments
• scientific article; zbMATH DE number 1301653 (Why is no real title available?)
• Sampling-based motion planning for uncertain high-dimensional systems via adaptive control

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