Randomized kinodynamic planning
@article{LaValle1999RandomizedKP, title={Randomized kinodynamic planning}, author={Steven M. LaValle and James J. Kuffner}, journal={Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)}, year={1999}, volume={1}, pages={473-479 vol.1} }
The paper presents a state-space perspective on the kinodynamic planning problem, and introduces a randomized path planning technique that computes collision-free kinodynamic trajectories for high degree-of-freedom problems. By using a state space formulation, the kinodynamic planning problem is treated as a 2n-dimensional nonholonomic planning problem, derived from an n-dimensional configuration space. The state space serves the same role as the configuration space for basic path planning. The…
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