Creator:

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

Contributor:

Aitouche, Abdel - ed.

Title:

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

Subtitle:

.

Group publication title:

AMCS, volume 28 (2018)

Subject and Keywords:

optimal motion planning ; sampling-based algorithm ; nonlinear dynamics

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 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.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2018

Resource Type:

artykuł

DOI:

10.2478/amcs-2018-0012

Pages:

155-168

Source:

AMCS, volume 28, number 1 (2018) ; click here to follow the link

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego