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Optimal, Smooth, Nonholonomic Mobile Robot Motion Planning in State Lattices (2007)
| Citations: | 10 - 6 self |
BibTeX
@MISC{Pivtoraiko07optimal,smooth,,
author = {Mihail Pivtoraiko and Ross A Knepper and Alonzo Kelly},
title = {Optimal, Smooth, Nonholonomic Mobile Robot Motion Planning in State Lattices},
year = {2007}
}
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Abstract
We present an approach to the problem of mobile robot motion planning in arbitrary cost fields subject to differential constraints. Given a model of vehicle maneuverability, a trajectory generator solves the two point boundary value problem of connecting two points in state space with a feasible motion. We use this capacity to compute a control set which connects any state to its reachable neighbors in a limited neighborhood. Equivalence classes of paths are used to implement a path sampling policy which preserves expressiveness while eliminating redundancy. The implicit repetition of the resulting minimal control set throughout state space produces a reachability graph that encodes all feasible motions consistent with this sampling policy. The graph encodes only feasible motions by construction and, by appropriate choice of state space dimension, can permit full configuration space collision detection while imposing heading and curvature continuity constraints at nodes. Nonholonomic constraints are satisfied by construction in the trajectory generator. We also use the trajectory generator to compute an ideal admissible heuristic and significantly improve planning efficiency. Comparisons
Keyphrases
feasible motion state lattice nonholonomic mobile robot motion planning trajectory generator state space equivalence class path sampling policy implicit repetition reachability graph full configuration space collision detection differential constraint point boundary value problem mobile robot motion planning planning efficiency appropriate choice limited neighborhood curvature continuity constraint nonholonomic constraint control set minimal control sampling policy reachable neighbor arbitrary cost field state space dimension vehicle maneuverability
