IEEE - Institute of Electrical and Electronics Engineers, Inc. - Optimal sampling-based planning for linear-quadratic kinodynamic systems

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Gustavo Goretkin ; Alejandro Perez ; Robert Platt ; George Konidaris
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 2,429 - 2,436
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630907
Regular:

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... View More

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