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)
The University of North Carolina at Greensboro (UNCG )
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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).

Additional Information

Computers and Mathematics with Applications, Vol. 27, No. 5, 1994, pp. 29–44.
Language: English
Date: 1994
Motion planning, Kinodynamic planning, Approximation algorithms, Robotics

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