Exact algorithm for kinodynamic planning in the plane

Published

Journal Article

A long-standing open problem in robotics has been that of devising algorithms for generating time-optimal motions under kinodynamic constraints. This problem has been considered previously in the literature and approximation algorithms have been provided for the two and three dimensional cases but with the exception of the one-dimensional case, no exact algorithms have been given. In this paper, we provide the first exact algorithm for time-optimal kinodynamic motion planning in the two-dimensional case.

Duke Authors

Cited Authors

  • Canny, J; Rege, A; Reif, J

Published Date

  • January 1, 1990

Start / End Page

  • 271 - 280

Citation Source

  • Scopus