Admissible velocity propagation: Beyond quasi-static path planning for high-dimensional robots
نویسندگان
چکیده
منابع مشابه
Admissible velocity propagation: Beyond quasi-static path planning for high-dimensional robots
Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate and simpler steps : first, find a path in the configuration space that satisfies the geometric constraints (path planning), and second, find a time-parameterization of that path satisfying the kinodynamic ...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2016
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364916675419