Approximate Kinodynamic Planning Using L2-Norm Dynamic Bounds
- UNCG Author/Contributor (non-UNCG co-authors, if there are any, appear on document)
- Stephen R. Tate, Professor and Department Head (Creator)
- Institution
- The University of North Carolina at Greensboro (UNCG )
- Web Site: http://library.uncg.edu/
Abstract: In this paper we address the issue of kinodynamic motion planning. Given a point that moves with bounded acceleration and velocity, we wish to find the time-optimal trajectory from a start state to a goal state (a state consists of both a position and a velocity). As finding exact optimal solutions to this problem seems very hard, we present a provably good approximation algorithm using the L2 norm to bound acceleration and velocity. Our results are an extension of the earlier work of Canny, Donald, Reif, and Xavier [1], who present similar results where the dynamics bounds can be examined in each dimension independently (they use the L&infin norm to bound acceleration and velocity).
Approximate Kinodynamic Planning Using L2-Norm Dynamic Bounds
PDF (Portable Document Format)
899 KB
Created on 3/11/2011
Views: 2026
Additional Information
- Publication
- Computers and Mathematics with Applications, Vol. 27, No. 5, 1994, pp. 29–44.
- Language: English
- Date: 1994
- Keywords
- Motion planning, Kinodynamic planning, Approximation algorithms, Robotics