TY - GEN
T1 - Bang-Bang Boosting of RRTs
AU - La Valle, Alexander J.
AU - Sakcak, Basak
AU - Lavalle, Steven M.
N1 - ACKNOWLEDGMENTS: This work was supported by a European Research Council Advanced Grant (ERC AdG, ILLUSIVE: Foundations of Perception Engineering, 101020977), Academy of Finland (PERCEPT 322637, CHiMP 342556), and Business Finland (HUMOR 3656/31/2019). We thank Dmitry Berenson, Oren Salz-man, Kalle Timperi, and Dmitry Yershov for helpful discussions.
PY - 2023
Y1 - 2023
N2 - This paper presents methods for dramatically improving the performance of sampling-based kinodynamic planners. The key component is a complete, exact steering method that produces a time-optimal trajectory between any states for a vector of synchronized double integrators. This method is applied in three ways: 1) to generate RRT edges that quickly solve the two-point boundary-value problems, 2) to produce a (quasi)metric for more accurate Voronoi bias in RRTs, and 3) to iteratively time-optimize a given collision-free trajectory. Experiments are performed for state spaces with up to 2000 dimensions, resulting in improved computed trajectories and orders of magnitude computation time improvements over using ordinary metrics and constant controls.
AB - This paper presents methods for dramatically improving the performance of sampling-based kinodynamic planners. The key component is a complete, exact steering method that produces a time-optimal trajectory between any states for a vector of synchronized double integrators. This method is applied in three ways: 1) to generate RRT edges that quickly solve the two-point boundary-value problems, 2) to produce a (quasi)metric for more accurate Voronoi bias in RRTs, and 3) to iteratively time-optimize a given collision-free trajectory. Experiments are performed for state spaces with up to 2000 dimensions, resulting in improved computed trajectories and orders of magnitude computation time improvements over using ordinary metrics and constant controls.
UR - http://www.scopus.com/inward/record.url?scp=85182523283&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85182523283&partnerID=8YFLogxK
U2 - 10.1109/IROS55552.2023.10341760
DO - 10.1109/IROS55552.2023.10341760
M3 - Conference contribution
AN - SCOPUS:85182523283
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2869
EP - 2876
BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Y2 - 1 October 2023 through 5 October 2023
ER -