A successive approximation-based approach for optimal kinodynamic motion planning with nonlinear differential constraints

This paper presents an extension to RRT* [1], a sampling-based motion planning with asymptotic optimality guarantee, in order to incorporate nonlinear differential equations in motion dynamics. The main challenge due to nonlinear differential constraints is the computational complexity of solving a...

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Bibliographische Detailangaben

Hauptverfasser:	Jung-Su Ha, Ju-Jang Lee, Han-Lim Choi
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Approximation algorithms Approximation methods Equations Heuristic algorithms Mathematical model Planning Trajectory
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