Autor:

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

Współtwórca:

Aitouche, Abdel - ed.

Tytuł:

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

Podtytuł:

.

Tytuł publikacji grupowej:

AMCS, volume 28 (2018)

Temat i słowa kluczowe:

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.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Data wydania:

2018

Typ zasobu:

artykuł

DOI:

10.2478/amcs-2018-0012

Strony:

155-168

Źródło:

AMCS, volume 28, number 1 (2018) ; kliknij tutaj, żeby przejść

Jezyk:

eng

Licencja CC BY 4.0:

kliknij tutaj, żeby przejść

Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego