Kinematic Feasibility Guarantees in Geometric Path Planning Using History-based Transition Costs over Cell Decompositions
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Cowlagi, Raghvendra V.
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Abstract
The hierarchical decomposition of motion planning
tasks into geometric path planning, followed by kinodynamic
motion planning is useful for designing efficient
algorithms, but it entails the possibility of inconsistency between
the two layers of planning. In an earlier paper, we proposed a
general framework, based on rectangular cell decompositions,
for incorporating information about the kinodynamic behavior
of the vehicle in the geometric planning layer itself. In this
paper, we use this framework to design a geometric path
planning scheme which simultaneously finds an obstacle-free
channel of cells from the initial point to the goal, as well as a
vehicle state trajectory lying within that channel.
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Date
2010-06
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