• DOI:10.1109/ROBOT.1999.770022
Corpus ID: 18187370

Randomized kinodynamic planning

@article{LaValle1999RandomizedKP,
  title={Randomized kinodynamic planning},
  author={S. LaValle and J. Kuffner},
  journal={Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)},
  year={1999},
  volume={1},
  pages={473-479 vol.1}
}

• S. LaValle, J. Kuffner
• Published 1999
• Mathematics, Computer Science
• Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)

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… Expand

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