On the Local Planners in the RRT* for Dynamical Systems and Their Reusability for Compound Cost Functionals
IEEE Transactions on Robotics(2022)
摘要
In this article, we study properties of local planners for nonholonomic dynamical systems to achieve asymptotic global optimality in a sampling-based planner, namely, the RRT*. Formal results are presented concerning length optimal trajectories under a nonholonomic metric, more specifically, an analysis about necessary or sufficient conditions for the local planners is provided. The analysis makes...
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关键词
Trajectory,Robots,Planning,Task analysis,Probabilistic logic,Convergence,Aerospace electronics
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