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}
}
  • S. LaValle, J. Kuffner
  • Published 10 May 1999
  • Mathematics
  • 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… 
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LaValle & Kuffner [] present an application of a randomized technique to the problem of kinodynamic planning. Their algorithm constructs Rapidly-exploring Random Trees (RRTs) in a high dimensional
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The contribution of this work is the development of a Space Exploration Guided Heuristic Search with a circle-path based heuristics and adaptable search step size, which is grid-free and able to plan nonholonomic vehicle motions under kinodynamic constraints.
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