An exact algorithm for kinodynamic planning in the plane

DOI10.1007/BF02574702zbMath0764.68190MaRDI QIDQ1176323

Ashutosh Rege, John H. Reif, John F. Canny

Publication date: 25 June 1992

Published in: Discrete \& Computational Geometry (Search for Journal in Brave)

Full work available at URL: https://eudml.org/doc/131171

zbMATH Keywords

roboticsloop-elimination theoremtime-optimal obstacle-avoiding motiontracking lemmavelocity and acceleration bounds

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Computing methodologies and applications (68U99) Kinematics of mechanisms and robots (70B15)

Related Items

Time-optimal trajectories of a rod in the plane subject to velocity constraints ⋮ The jogger's problem: Control of dynamics in real-time motion planning ⋮ Reachability by paths of bounded curvature in a convex polygon ⋮ Continuous alternation: the complexity of pursuit in continuous domains ⋮ Maximum thick paths in static and dynamic environments ⋮ Approximate kinodynamic planning using \(L_ 2\)-norm dynamic bounds

Cites Work

• Motion planning with inertial constraints
• Minimum-time control of robotic manipulators with geometric path constraints
• On the time-optimality of bang-bang trajectories in 𝐑³