Randomized Kinodynamic Motion Planning with Moving Obstacles
نویسندگان
چکیده
منابع مشابه
Randomized Kinodynamic Motion Planning with Moving Obstacles
This paper presents a novel randomized motion planner for robots that must achieve a specified goal under kinematic and/or dynamic motion constraints while avoiding collision with moving obstacles with known trajectories. The planner encodes the motion constraints on the robot with a control system and samples the robot’s state×time space by picking control inputs at random and integrating its ...
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This paper presents a novel randomized motion planner for robots that must achieve a specified goal under kinematic and/or dynamic motion constraints while avoiding collision with moving obstacles with known trajectories. The planner encodes the motion constraints on the robot with a control system and samples the robot’s state×time space by picking control inputs at random and integrating its ...
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Kinodynamic planning attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints. In the general problem, given a robot system, we must nd a minimal-time trajectory that goes from a start position and velocity to a goal position and velocity while avoiding obstacles by a safety margin and respecting constraints on velocity and acceleration. We consider th...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2002
ISSN: 0278-3649,1741-3176
DOI: 10.1177/027836402320556421