Approximate kinodynamic planning using L2 -norm dynamic bounds
Publication
, Journal Article
Reif, JH; Tate, SR
Published in: Computers and Mathematics with Applications
January 1, 1994
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.
Duke Scholars
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Published In
Computers and Mathematics with Applications
DOI
ISSN
0898-1221
Publication Date
January 1, 1994
Volume
27
Issue
5
Start / End Page
29 / 44
Related Subject Headings
- Numerical & Computational Mathematics
- 49 Mathematical sciences
- 46 Information and computing sciences
- 35 Commerce, management, tourism and services
- 15 Commerce, Management, Tourism and Services
- 08 Information and Computing Sciences
- 01 Mathematical Sciences
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Reif, J. H., & Tate, S. R. (1994). Approximate kinodynamic planning using L2 -norm dynamic bounds. Computers and Mathematics with Applications, 27(5), 29–44. https://doi.org/10.1016/0898-1221(94)90074-4
Reif, J. H., and S. R. Tate. “Approximate kinodynamic planning using L2 -norm dynamic bounds.” Computers and Mathematics with Applications 27, no. 5 (January 1, 1994): 29–44. https://doi.org/10.1016/0898-1221(94)90074-4.
Reif JH, Tate SR. Approximate kinodynamic planning using L2 -norm dynamic bounds. Computers and Mathematics with Applications. 1994 Jan 1;27(5):29–44.
Reif, J. H., and S. R. Tate. “Approximate kinodynamic planning using L2 -norm dynamic bounds.” Computers and Mathematics with Applications, vol. 27, no. 5, Jan. 1994, pp. 29–44. Scopus, doi:10.1016/0898-1221(94)90074-4.
Reif JH, Tate SR. Approximate kinodynamic planning using L2 -norm dynamic bounds. Computers and Mathematics with Applications. 1994 Jan 1;27(5):29–44.
Published In
Computers and Mathematics with Applications
DOI
ISSN
0898-1221
Publication Date
January 1, 1994
Volume
27
Issue
5
Start / End Page
29 / 44
Related Subject Headings
- Numerical & Computational Mathematics
- 49 Mathematical sciences
- 46 Information and computing sciences
- 35 Commerce, management, tourism and services
- 15 Commerce, Management, Tourism and Services
- 08 Information and Computing Sciences
- 01 Mathematical Sciences