Title :
A successive approximation-based approach for optimal kinodynamic motion planning with nonlinear differential constraints
Author :
Jung-Su Ha ; Ju-Jang Lee ; Han-Lim Choi
Author_Institution :
Div. of Aerosp. Eng., KAIST, Daejeon, South Korea
Abstract :
This paper presents an extension to RRT* [1], a sampling-based motion planning with asymptotic optimality guarantee, in order to incorporate nonlinear differential equations in motion dynamics. The main challenge due to nonlinear differential constraints is the computational complexity of solving a two-point boundary-value problem that arises in the tree expansion process to optimally connect two given states. This work adapts the successive approximation method that transforms a nonlinear optimal control problem into a sequence of linear-quadratic-like problems to solve these TPBVPs. The resulting algorithm, termed SA-RRT*, is demonstrated to create more realistic plans compared to existing kinodynamic extensions of RRT*, while preserving asymptotic optimality.
Keywords :
approximation theory; boundary-value problems; computational complexity; linear quadratic control; mobile robots; nonlinear control systems; nonlinear differential equations; optimal control; path planning; robot dynamics; sampling methods; SA-RRT* resulting algorithm; TPBVP; asymptotic optimality guarantee; asymptotic optimality preservation; computational complexity; linear-quadratic-like problems; motion dynamics; nonlinear differential constraints; nonlinear differential equations; nonlinear optimal control problem; optimal kinodynamic motion planning; rapidly-exploring random tree; sampling-based motion planning; successive approximation-based approach; tree expansion process; two-point boundary-value problem; Approximation algorithms; Approximation methods; Equations; Heuristic algorithms; Mathematical model; Planning; Trajectory;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6760440