- Tytuł:
- Iterative methods for efficient sampling-based optimal motion planning of nonlinear systems
- Autorzy:
-
Ha, J. S.
Choi, H. L.
Jeon, J. H. - Powiązania:
- https://bibliotekanauki.pl/articles/330028.pdf
- Data publikacji:
- 2018
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
optimal motion planning
sampling based algorithm
nonlinear dynamics
planowanie ruchu
algorytm próbkowania
dynamika nieliniowa - Opis:
- 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.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2018, 28, 1; 155-168
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł