NDLI: Randomized kinodynamic planning

Content Provider	IEEE Xplore Digital Library
Author	LaValle, S.M. Kuffner Jr., J.J.
Copyright Year	1999
Description	Author affiliation: Dept. of Comput. Sci., Iowa State Univ., Ames, IA, USA (LaValle, S.M.)
Abstract	The paper presents a state-space perspective on the kinodynamic planning problem, and introduces a randomized path planning technique that computes collision-free kinodynamic trajectories for high degree-of-freedom problems. By using a state space formulation, the kinodynamic planning problem is treated as a 2n-dimensional nonholonomic planning problem, derived from an n-dimensional configuration space. The state space serves the same role as the configuration space for basic path planning. The bases for the approach is the construction of a tree that attempts to rapidly and uniformly explore the state space, offering benefits that are similar to those obtained by successful randomized planning methods, but applies to a much broader class of problems. Some preliminary results are discussed for an implementation that determines the kinodynamic trajectories for hovercrafts and satellites in cluttered environments resulting in state spaces of up to twelve dimensions.
Starting Page	473
Ending Page	479
File Size	839869
Page Count	7
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.770022
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning State-space methods Orbital robotics Vehicle dynamics Kinematics Trajectory Mobile robots Computer science Space exploration Velocity control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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