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

• Autorzy: Ha J. S. , Choi H. L. , Jeon J. H.

Identyfikatory

DOI

10.2478/amcs-2018-0012

• Języki publikacji: EN

Abstrakty

EN

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 an 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 to compute 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.

Słowa kluczowe

EN

optimal motion planning; sampling based algorithm; nonlinear dynamics

PL

planowanie ruchu; algorytm próbkowania; dynamika nieliniowa

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2018
• Tom: Vol. 28, no. 1
• Strony: 155--168
• Opis fizyczny: Bibliogr. 27 poz., rys., tab., wykr.

Twórcy

autor

Ha J. S.

• Mechanical Engineering Research Institute, Korea Advanced Institute of Science and Technology, 291 Daehak-ro, Yuseong, Deajeon 34141, Republic of Korea

autor

Choi H. L.

• Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology, 291 Daehak-ro, Yuseong, Deajeon 34141, Republic of Korea

autor

Jeon J. H.

• nuTonomy Inc., 1 Broadway, Cambridge, MA 02142, USA

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).