A multiresolution approach for motion planning under differential constraints

Stephen R. Lindemann, Steven M. LaValle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages139-144
Number of pages6
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'A multiresolution approach for motion planning under differential constraints'. Together they form a unique fingerprint.

Cite this