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ICRA
2006
IEEE

Multiresolution Approach for Motion Planning under Differential Constraints

14 years 5 months ago
Multiresolution Approach for Motion Planning under Differential Constraints
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.
Stephen R. Lindemann, Steven M. LaValle
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Stephen R. Lindemann, Steven M. LaValle
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