Title :
Resolution complete rapidly-exploring random trees
Author :
Cheng, Peng ; LaValle, Steven M.
Author_Institution :
Dept. of Comput. Sci., Illinois Univ., Urbana, IL, USA
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;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013372
