Iterative methods for efficient sampling-based optimal motion planning of nonlinear systems
This paper extends the RRT* algorithm, a recently developed but widely used sampling based optimal motion planner, in order to effectively handle nonlinear kinodynamic constraints. Nonlinearity in kinodynamic differential constraints often leads to difficulties in choosing an appropriate distance me...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2018-03-01
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| Series: | International Journal of Applied Mathematics and Computer Science |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/amcs-2018-0012 |