Deterministic Kinodynamic Planning
نویسندگان
چکیده
This paper proposes a Deterministic Kinodynamic Planning approach (DKP for short) offering the degree of generality of randomized techniques for two wheeled robots, such as RRT, but also guarantees on the computation time. This approach combines a global path planner based on an A∗-like algorithm, and a local motion planner based on spline optimization techniques. Implementation details and comparative examples with RRT are provided.
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