Kinodynamic Motion Planning
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In this paper, the authors extend the capabilities of the harmonic potential field (HPF) approach to cover both the kinematic and dynamic aspects of a robot's motion by augmenting it with a novel type of damping forces.Abstract:
This article extends the capabilities of the harmonic potential field (HPF) approach to planning to cover both the kinematic and dynamic aspects of a robot's motion. The suggested approach converts the gradient guidance field from a harmonic potential to a control signal by augmenting it with a novel type of damping forces called nonlinear, anisotropic, damping forces (NADF). The HPF (harmonic potential field) approach to planning is emerging as a powerful paradigm for the guidance of autonomous agents.read more
Citations
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Proceedings ArticleDOI
Optimal trajectory generation for dynamic street scenarios in a Frenét Frame
TL;DR: A semi-reactive trajectory generation method, which can be tightly integrated into the behavioral layer of the holistic autonomous system, that realizes long-term objectives such as velocity keeping, merging, following, stopping, in combination with a reactive collision avoidance by means of optimal-control strategies within the Frenét-Frame of the street.
Journal ArticleDOI
Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey
TL;DR: Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are reviewed, and particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.
Proceedings ArticleDOI
Batch Informed Trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs
TL;DR: Batch Informed Trees (BIT*) as discussed by the authors is a planning algorithm based on unifying graph-and sampling-based planning techniques, which combines the efficient ordered nature of graph-based techniques with the anytime scalability of sampling based algorithms, such as Rapidly-exploring Random Trees (RRT).
Proceedings ArticleDOI
Kinodynamic RRT*: Asymptotically optimal motion planning for robots with linear dynamics
Dustin J. Webb,Jur van den Berg +1 more
TL;DR: Kinodynamic RRT*, an incremental sampling-based approach for asymptotically optimal motion planning for robots with linear dynamics, is presented, which generalizes earlier work on RRT* for kinodynamic systems, and shows that for the rich subclass of systems with a nilpotent dynamics matrix, closed-form solutions for optimal trajectories can be derived.
Journal ArticleDOI
Motion Planning With Dynamics by a Synergistic Combination of Layers of Planning
TL;DR: Simulation experiments with dynamical models of ground and flying vehicles demonstrate that the combination of discrete search and motion planning in SyCLoP offers significant advantages, with speedups of up to two orders of magnitude.
References
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Journal ArticleDOI
Exact robot navigation using artificial potential functions
Elon Rimon,Daniel E. Koditschek +1 more
TL;DR: A methodology for exact robot motion planning and control that unifies the purely kinematic path planning problem with the lower level feedback controller design is presented.
Proceedings ArticleDOI
Potential field methods and their inherent limitations for mobile robot navigation
Yoram Koren,Johann Borenstein +1 more
TL;DR: Based on a rigorous mathematical analysis, the authors present a systematic overview and a critical discussion of the inherent problems of potential field methods (PFMs) and developed a new method for fast obstacle avoidance.
Book
Harmonic Function Theory
TL;DR: The Dirichlet Problem and Boundary Behavior of Harmonic Function Theory and Mathematica are discussed in this article, where the authors present a symbol index for harmonic function theory and mathematica.
Book ChapterDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: In this article, a real-time obstacle avoidance approach for manipulators and mobile robots based on the "artificial potential field" concept is presented, where collision avoidance, traditionally considered a high level planning problem, can be effectively distributed between different levels of control.
Journal ArticleDOI
Some Extensions of Liapunov's Second Method
TL;DR: In this article, the effect of nonlinearities on the stability of a system is taken into account, and the results for determining the region of asymptotic stability are given.