Sampling-based Planning Algorithms Applied to Bicycles
نویسنده
چکیده
In this paper, I explore the application of various random sampling based algorithms to dynamic models of bicycles. Starting with relatively simple 3-dimensional state space models of bicycle and working up to a more realistic 7dimensional model that incorporates skidding, I examine RRT, RG-RRT, RRT*, and LQR-RRT*.
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