Trajectory Planning using Reachable-State Density Functions

:This paper presents a trajectory planning algorithm for mobile robots which may be subject to kinodynamic constraints. Using computational methods from noncommutative harmonic analysis, the algorithm efficiently constructs an approximation to the robot’s reachable-state density function. Based on a multiscale approach, the density function is then used to plan a path. One variation of the algorithm exhibits time complexity that is logarithmic in the number of steps. Simulations illustrate the method. 1 Motivation Many mobile robots operate under non-holonomic or other kinodynamic constraints which complicate the task of planning their motions. This paper presents an algorithm for planning gross motions of many types of mobile robots in the presence of such constraints. There is a large literature on the subject of nonholonomic and kinodynamic motion planning. Many approaches are based on a decomposition of the planning problem into two parts. In the first step, the kinematic and dy...

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Richard Mason, Joel W. Burdick
• Keywords: ICRA 2002, Mobile Robots, Motion Planning, Robotics, Trajectory Planning Algorithm