Approximate kinodynamic planning using L2-norm dynamic bounds


Journal Article

In this paper we address the issue of kinodynamic motion planning. Given a point that moves with bounded acceleration and velocity, we wish to find the time-optimal trajectory from a start state to a goal state (a state consists of both a position and a velocity). As finding exact optimal solutions to this problem seems very hard, we present a provably good approximation algorithm using the L2 norm to bound acceleration and velocity. Our results are an extension of the earlier work of Canny, Donald, Reif, and Xavier [1], who present similar results where the dynamics bounds can be examined in each dimension independently (they use the L∞ norm to bound acceleration and velocity). © 1994.

Full Text

Duke Authors

Cited Authors

  • Reif, JH; Tate, SR

Published Date

  • January 1, 1994

Published In

Volume / Issue

  • 27 / 5

Start / End Page

  • 29 - 44

International Standard Serial Number (ISSN)

  • 0898-1221

Digital Object Identifier (DOI)

  • 10.1016/0898-1221(94)90074-4

Citation Source

  • Scopus