TY - GEN
T1 - Efficient computation of optimal navigation functions for nonholonomic planning
AU - Konkimalla, Prashanth
AU - La Valle, Steven M.
PY - 1999
Y1 - 1999
N2 - We present a fast, numerical approach to computing optimal feedback motion strategies for a nonholonomic robot in a cluttered environment. Although many techniques exist to compute navigation functions that can incorporate feedback, none of these methods is directly able to determine optimal strategies for general nonholonomic systems. Our approach builds on previous techniques in numerical optimal control, and on our previous efforts in developing algorithms that compute feedback strategies for problems that involve nondeter-ministic and stochastic uncertainties in prediction. The proposed approach efficiently computes an optimal navigation function for nonholonomic systems by exploiting two ideas: 1) the principle of Dijkstra's algorithm can be generalized to continuous configuration spaces and nonholonomic systems, and 2) a simplicial mesh representation can be used to reduce the complexity of numerical interpolation.
AB - We present a fast, numerical approach to computing optimal feedback motion strategies for a nonholonomic robot in a cluttered environment. Although many techniques exist to compute navigation functions that can incorporate feedback, none of these methods is directly able to determine optimal strategies for general nonholonomic systems. Our approach builds on previous techniques in numerical optimal control, and on our previous efforts in developing algorithms that compute feedback strategies for problems that involve nondeter-ministic and stochastic uncertainties in prediction. The proposed approach efficiently computes an optimal navigation function for nonholonomic systems by exploiting two ideas: 1) the principle of Dijkstra's algorithm can be generalized to continuous configuration spaces and nonholonomic systems, and 2) a simplicial mesh representation can be used to reduce the complexity of numerical interpolation.
UR - http://www.scopus.com/inward/record.url?scp=84947940912&partnerID=8YFLogxK
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U2 - 10.1109/ROMOCO.1999.791074
DO - 10.1109/ROMOCO.1999.791074
M3 - Conference contribution
AN - SCOPUS:84947940912
T3 - Proceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999
SP - 187
EP - 192
BT - Proceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999
A2 - Tchon, K.
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st Workshop on Robot Motion and Control, RoMoCo 1999
Y2 - 28 June 1999 through 29 June 1999
ER -