KINODYNAMIC MOTION PLANNING

被引：290

作者：

DONALD, B

XAVIER, P

CANNY, J

REIF, J

机构：

[1] UNIV CALIF BERKELEY,BERKELEY,CA 94720

[2] DUKE UNIV,DURHAM,NC 27706

来源：

JOURNAL OF THE ACM | 1993年 / 40卷 / 05期

关键词：

PERFORMANCE; RELIABILITY; APPROXIMATION; COMPUTATIONAL GEOMETRY; DYNAMICS; OPTIMAL CONTROL; ROBOTICS; SHORTEST PATH;

D O I：

10.1145/174147.174150

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

Kinodynamic planning attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints. In the general problem, given a robot system, we must find a minimal-time trajectory that goes from a start position and velocity to a goal position and velocity while avoiding obstacles by a safety margin and respecting constraints on velocity and acceleration. We consider the simplified case of a point mass under Newtonian mechanics, together with velocity and acceleration bounds. The point must be flown from a start to a goal, amidst polyhedral obstacles in 2D or 3D. Although exact solutions to this problem are not known, we provide the first provably good approximation algorithm, and show that it runs in polynomial time.

引用

页码：1048 / 1066

页数：19