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...

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Bibliographic Details
Published inProceedings - IEEE International Conference on Robotics and Automation Vol. 1; pp. 273 - 280
Main Authors Mason, Richard, Burdick, Joel W
Format Journal Article
LanguageEnglish
Published 01.01.2002
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Summary: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.
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ISSN:1050-4729