Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: Iterative methods for efficient sampling-based optimal motion planning of nonlinear systems
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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
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Pages:
Source:
AMCS, volume 28, number 1 (2018) ; click here to follow the link
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License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2018)
Last modified:
Jul 14, 2025
In our library since:
Jul 7, 2025
Number of object content hits:
48
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/100750
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 28, number 1 (2018)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 28, number 2 (2018)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 28, number 3 (2018)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 28, number 4 (2018)
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| Edition name | Date |
|---|---|
| Iterative methods for efficient sampling-based optimal motion planning of nonlinear systems | Jul 14, 2025 |
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