Trajectory Planning using Reachable-State Density Functions
نویسندگان
چکیده
This paper presents a trajectory planning algorithm for mobile robots which may be subject to kinodynamic constraints. Using computational methods from noncommutative harmonic analysis, the algorithm efficiently constructs an approximation to the robot’s reachable-state density function. Based on a multiscale approach, the density function is then used to plan a path. One variation of the algorithm exhibits time complexity that is logarithmic in the number of steps. Simulations illustrate the method.
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تاریخ انتشار 2002