TY - GEN
T1 - A multiresolution approach for motion planning under differential constraints
AU - Lindemann, Stephen R.
AU - LaValle, Steven M.
N1 - Copyright:
Copyright 2008 Elsevier B.V., All rights reserved.
PY - 2006
Y1 - 2006
N2 - In this paper, we present an incremental, multiresolution motion planning algorithm designed for systems with differential constraints. Planning for these sytems is more difficult than ordinary path planning due to the presence of momentum (drift) or nonholonomic velocity constraints. Given a motion planning problem for such a system and that a solution to the problem exists, then a finite reachability graph containing a solution trajectory is guaranteed to exist, under very reasonable conditions. In general, this graph can be generated using sufficiently dense input space sampling, sufficiently small time step, and sufficiently large tree depth. We show how to find and search such a tree in an incremental, multiresolution way. We prove the completeness of our algorithm, discuss related practical concerns, and show experimental results for several systems.
AB - In this paper, we present an incremental, multiresolution motion planning algorithm designed for systems with differential constraints. Planning for these sytems is more difficult than ordinary path planning due to the presence of momentum (drift) or nonholonomic velocity constraints. Given a motion planning problem for such a system and that a solution to the problem exists, then a finite reachability graph containing a solution trajectory is guaranteed to exist, under very reasonable conditions. In general, this graph can be generated using sufficiently dense input space sampling, sufficiently small time step, and sufficiently large tree depth. We show how to find and search such a tree in an incremental, multiresolution way. We prove the completeness of our algorithm, discuss related practical concerns, and show experimental results for several systems.
UR - http://www.scopus.com/inward/record.url?scp=33845672493&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2006.1641174
DO - 10.1109/ROBOT.2006.1641174
M3 - Conference contribution
AN - SCOPUS:33845672493
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 139
EP - 144
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -