On the complexity of kinodynamic planning

The following problem, is considered: given a robot system find a minimal-time trajectory from a start position and velocity to a goal position and velocity, while avoiding obstacles and respecting dynamic constraints on velocity and acceleration. The simplified case of a point mass under Newtonian...

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Bibliographic Details
Published in[Proceedings 1988] 29th Annual Symposium on Foundations of Computer Science pp. 306 - 316
Main Authors Canny, J., Donald, B., Reif, J., Xavier, P.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1988
Subjects
Acceleration
Approximation algorithms
Computer science
Equations
Kinematics
Motion planning
Polynomials
Robot motion
Upper bound
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Summary:The following problem, is considered: given a robot system find a minimal-time trajectory from a start position and velocity to a goal position and velocity, while avoiding obstacles and respecting dynamic constraints on velocity and acceleration. The simplified case of a point mass under Newtonian mechanics together with velocity and acceleration bounds is considered. The point must be flown from a start to a goal, amid 2-D or 3-D polyhedral obstacles. While exact solutions to this problem are not known, the first provably good approximation algorithm is given and shown to run in polynomial time.
ISBN:9780818608773
0818608773
DOI:10.1109/SFCS.1988.21947