Kinodynamic RRT*: Optimal Motion Planning for Systems with Linear Differential Constraints

23 May 2012Dustin J. WebbJur van den Berg

We present Kinodynamic RRT*, an incremental sampling-based approach for asymptotically optimal motion planning for robots with linear differential constraints. 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... (read more)

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