Optimal sampling-based planning for linear-quadratic kinodynamic systems
Publication
, Journal Article
Goretkin, G; Perez, A; Platt, R; Konidaris, G
Published in: Proceedings - IEEE International Conference on Robotics and Automation
November 14, 2013
We propose a new method for applying RRT* to kinodynamic motion planning problems by using finite-horizon linear quadratic regulation (LQR) to measure cost and to extend the tree. First, we introduce the method in the context of arbitrary affine dynamical systems with quadratic costs. For these systems, the algorithm is shown to converge to optimal solutions almost surely. Second, we extend the algorithm to non-linear systems with non-quadratic costs, and demonstrate its performance experimentally. © 2013 IEEE.
Duke Scholars
Published In
Proceedings - IEEE International Conference on Robotics and Automation
DOI
ISSN
1050-4729
Publication Date
November 14, 2013
Start / End Page
2429 / 2436
Citation
APA
Chicago
ICMJE
MLA
NLM
Goretkin, G., Perez, A., Platt, R., & Konidaris, G. (2013). Optimal sampling-based planning for linear-quadratic kinodynamic systems. Proceedings - IEEE International Conference on Robotics and Automation, 2429–2436. https://doi.org/10.1109/ICRA.2013.6630907
Goretkin, G., A. Perez, R. Platt, and G. Konidaris. “Optimal sampling-based planning for linear-quadratic kinodynamic systems.” Proceedings - IEEE International Conference on Robotics and Automation, November 14, 2013, 2429–36. https://doi.org/10.1109/ICRA.2013.6630907.
Goretkin G, Perez A, Platt R, Konidaris G. Optimal sampling-based planning for linear-quadratic kinodynamic systems. Proceedings - IEEE International Conference on Robotics and Automation. 2013 Nov 14;2429–36.
Goretkin, G., et al. “Optimal sampling-based planning for linear-quadratic kinodynamic systems.” Proceedings - IEEE International Conference on Robotics and Automation, Nov. 2013, pp. 2429–36. Scopus, doi:10.1109/ICRA.2013.6630907.
Goretkin G, Perez A, Platt R, Konidaris G. Optimal sampling-based planning for linear-quadratic kinodynamic systems. Proceedings - IEEE International Conference on Robotics and Automation. 2013 Nov 14;2429–2436.
Published In
Proceedings - IEEE International Conference on Robotics and Automation
DOI
ISSN
1050-4729
Publication Date
November 14, 2013
Start / End Page
2429 / 2436