Iterative methods for efficient sampling-based optimal motion planning of nonlinear systems
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Publication:1787076
DOI10.2478/AMCS-2018-0012zbMATH Open1396.93088arXiv1603.04112OpenAlexW2962827902WikidataQ130046430 ScholiaQ130046430MaRDI QIDQ1787076FDOQ1787076
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)
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.
Full work available at URL: https://arxiv.org/abs/1603.04112
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Cited In (9)
- Maximizing the coverage of roadmap graph for optimal motion planning
- State space sampling of feasible motions for high performance mobile robot navigation in highly constrained environments
- Sequential virtual motion camouflage method for nonlinear constrained optimal trajectory control
- Sampling-based motion planning for uncertain high-dimensional systems via adaptive control
- Pushing the boundaries of asymptotic optimality in integrated task and motion planning
- Convergence analysis of spatial-sampling-based algorithms for time-optimal smooth velocity planning
- Title not available (Why is that?)
- The convex feasible set algorithm for real time optimization in motion planning
- Multiquery motion planning in uncertain spaces: incremental adaptive randomized roadmaps
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