1 code implementation • 23 May 2012 • Dustin J. Webb, Jur van den Berg
Our approach extends RRT*, which was introduced for holonomic robots (Karaman et al. 2011), by using a fixed-final-state-free-final-time controller that exactly and optimally connects any pair of states, where the cost function is expressed as a trade-off between the duration of a trajectory and the expended control effort.
Robotics Data Structures and Algorithms
