MIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Reachability-guided sampling for planning under differential constraints

Author(s)
Shkolnik, Alexander C.; Walter, Matthew R.; Tedrake, Russell Louis
Thumbnail
DownloadShkolnik-2009-Reachability-guided sampling for planning under differential constraints.pdf (306.5Kb)
PUBLISHER_POLICY

Publisher Policy

Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.

Terms of use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Metadata
Show full item record
Abstract
Rapidly-exploring random trees (RRTs) are widely used to solve large planning problems where the scope prohibits the feasibility of deterministic solvers, but the efficiency of these algorithms can be severely compromised in the presence of certain kinodynamics constraints. Obstacle fields with tunnels, or tubes are notoriously difficult, as are systems with differential constraints, because the tree grows inefficiently at the boundaries. Here we present a new sampling strategy for the RRT algorithm, based on an estimated feasibility set, which affords a dramatic improvement in performance in these severely constrained systems. We demonstrate the algorithm with a detailed look at the expansion of an RRT in a swing up task, and on path planning for a nonholonomic car.
Date issued
2009-07
URI
http://hdl.handle.net/1721.1/61653
Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Journal
IEEE International Conference on Robotics and Automation, 2009. ICRA '09
Publisher
Institute of Electrical and Electronics Engineers
Citation
Shkolnik, A., M. Walter, and R. Tedrake. “Reachability-guided sampling for planning under differential constraints.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 2859-2865. ©2009 IEEE.
Version: Final published version
Other identifiers
INSPEC Accession Number: 10748794
ISBN
978-1-4244-2788-8
ISSN
1050-4729

Collections
  • MIT Open Access Articles

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries
PrivacyPermissionsAccessibilityContact us
MIT
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.