Resolution complete rapidly-exploring random trees

Author

Cheng, Peng ; LaValle, Steven M.

Author_Institution

Dept. of Comput. Sci., Illinois Univ., Urbana, IL, USA

Volume

1

fYear

2002

fDate

2002

Firstpage

267

Abstract

Trajectory design for high-dimensional systems with nonconvex constraints has considerable success recently; however, the resolution completeness analysis for various methods is insufficient. In this paper, based on Lipschitz condition and the accessibility graph, conditions for resolution completeness are derived. By combining the systematic search with randomized technique, a randomized planner is transformed to be a deterministic resolution complete planner, which shows reliable performance in the simulation.

Keywords

path planning; random processes; trees (mathematics); Lipschitz condition; accessibility graph; deterministic resolution complete planner; high-dimensional systems; nonconvex constraints; randomized planner; randomized technique; resolution completeness analysis; resolution-complete rapidly-exploring random trees; systematic search; trajectory design; Acceleration; Algorithm design and analysis; Boundary conditions; Computer science; Control systems; Dynamic programming; Mobile robots; Remotely operated vehicles; Space vehicles; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013372

Filename

1013372