Multiresolution approach for motion planning under differential constraints
Multiresolution approach for motion planning under differential constraints
复制标题
差分约束下运动规划的多分辨率方法
DOI：
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
S. LaValle
中科院分区：
文献类型：
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作者：
Stephen R. Lindemann;S. LaValle
在本文中，我们提出了一个增量式，多分辨率运动规划算法设计的微分约束系统。由于存在动量（漂移）或非完整速度约束，这些系统的规划比普通的路径规划更困难。给定这样一个系统的运动规划问题，并且该问题的解存在，则在非常合理的条件下，保证存在包含解轨迹的有限可达图。通常，可以使用足够密集的输入空间采样、足够小的时间步长和足够大的树深度来生成该图。我们将展示如何找到和搜索这样一棵树在一个增量，多分辨率的方式。我们证明了我们的算法的完整性，讨论了相关的实际问题，并显示了几个系统的实验结果
In this paper, we present an incremental, multiresolution motion planning algorithm designed for systems with differential constraints. Planning for these systems 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