Article

Free access

An exact algorithm for kinodynamic planning in the plane

Authors:

John Canny,

Ashutosh Rege,

John ReifAuthors Info & Claims

SCG '90: Proceedings of the sixth annual symposium on Computational geometry

Pages 271 - 280

https://doi.org/10.1145/98524.98584

Published: 01 May 1990 Publication History

PDF eReader

References

[1]

Bobrow, :I.E., Dubowsky, S. and Gibson, J.S., "On the Optimal Control of Robotic Manipulators with Actuator Constraints", Proc. of the ACC, San Francisco, (1983), pp. 782-787.

Crossref

Google Scholar

[2]

Canny, J., Donald, B., Reif J. and Xavier, P., "On the Complexity of Kinodynamic Planning", Proc. 29th IEEE Symposium on Foundations of Computer Science, New York, (1988), pp. 306-318.

Digital Library

Google Scholar

[3]

J.F. Canny and J. Reif, "New lower bound techniques for robot motion planning," in 28th IEEE Symposium on Foundations of Computer Science, (Los Angeles), 1987.

Google Scholar

[4]

Fortune, S. and Wilfong, G., "Planning Constrained Motion" Proc. A CM Symposium on the Theory of Computing, Chicago, (1988), pp. 445-459.

Digital Library

Google Scholar

[5]

J.M. Hollerbach, "Dynamic scaling of manipulator trajectories," in Proceedings of the A CC, (San Francisco, CA), pp. 752-756, The American Automatic Control Council, June 1983.

Google Scholar

[6]

P. Jacobs and :i. Canny, "Planning smooth paths for mobile robots," in Proceedings of the 1989 International Conference on Robotics and Automation, pp. 2-7, IEEE, May 1989.

Google Scholar

[7]

P. :iacobs, G. Heinzinger, :i. Canny and B. Paden, "Planning Guaranteed Near- Time-Optimal Trajectories for a Manipulator in a Cluttered Workspace", Technical Report ESRC 89-20/RAMP 89-15, Engineering Systems Research Center, University of California, Berkeley, October 1989.

Google Scholar

[8]

C. O'Dfinlaing, "Motion planning with inertial constraints", Algorilhmica, vol. 2(4), (1987), pp. 431-475

Digital Library

Google Scholar

[9]

Reif, j. and Tate, S., "Approximate kinodynamic planning using L~ norm dynamic bounds", Duke University Tech. Report (1989).

Digital Library

Google Scholar

[10]

Renegar, J., "On the computational complexity and geometry of the first order theory of the reals", Technical Report no. 853, School of O.R. and I.E., Cornell University, NY, July 1989.

Google Scholar

[11]

G. Sahar and J. M. Hollerbach, "Planning of minimum-time trajectories for robot arms", Tech. Rep. A.I. Memo No. 804, MIT, November 1984.

Google Scholar

[12]

H.M. Schaettler, "On the Optimality of Bang-Bang Trajectories in ~3, Bull. AMS, vol. 18(1), pp. 113-6 (1987).

Crossref

Google Scholar

[13]

Z. Shiller and S. Dubowsky, "Global Time- Optimal Motions of Robotic Manipulators in the Presence of Obstacles, IEEE Int. Conf. on Robotics and Automation, Philadelphia, (1988).

Crossref

Google Scholar

[14]

K.G. Shin and N. D. McKay, "Minimumtime control of robotic manipulators with geometric path constraints", IEEE Trans. aclions on Automatic Control, vol. AC-30, pp. 531-541, June 1985.

Crossref

Google Scholar

Cited By

View all

Vilar RShin H(2013)Communication-Aware Task Assignment for UAV Cooperation in Urban EnvironmentsIFAC Proceedings Volumes10.3182/20131120-3-FR-4045.0004846:30(352-359)Online publication date: 2013
https://doi.org/10.3182/20131120-3-FR-4045.00048
Johnson JHauser K(2012)Optimal acceleration-bounded trajectory planning in dynamic environments along a specified path2012 IEEE International Conference on Robotics and Automation10.1109/ICRA.2012.6225233(2035-2041)Online publication date: May-2012
https://doi.org/10.1109/ICRA.2012.6225233
Glassman ETedrake R(2010)A quadratic regulator-based heuristic for rapidly exploring state space2010 IEEE International Conference on Robotics and Automation10.1109/ROBOT.2010.5509718(5021-5028)Online publication date: May-2010
https://doi.org/10.1109/ROBOT.2010.5509718
Show More Cited By

Index Terms

An exact algorithm for kinodynamic planning in the plane

Recommendations

Asymptotically Optimal Planning by Feasible Kinodynamic Planning in a StateźCost Space

This paper presents an equivalence between feasible kinodynamic planning and optimal kinodynamic planning, in that any optimal planning problem can be transformed into a series of feasible planning problems in a state–cost space, whose solutions ...
State Supervised Steering Function for Sampling-based Kinodynamic Planning
AAMAS '22: Proceedings of the 21st International Conference on Autonomous Agents and Multiagent Systems

Sampling-based motion planners such as RRT* and BIT*, when applied to kinodynamic motion planning, rely on steering functions to generate time-optimal solutions connecting sampled states. Implementing exact steering functions requires either analytical ...
Kinodynamic Motion Planning of a Skid-Steering Mobile Robot Using RRTs
LARS '10: Proceedings of the 2010 Latin American Robotics Symposium and Intelligent Robotics Meeting

Motion planning is one of the fundamental problems in autonomous robotic navigation. However, usually the dynamic model of the robot is not considered on most of the basic motion planners, resulting in trajectories that may be difficult to be tracked by ...

Comments

Information & Contributors

Information

Published In

SCG '90: Proceedings of the sixth annual symposium on Computational geometry

May 1990

371 pages

ISBN:0897913620

DOI:10.1145/98524

Chairman:
Raimund Seidel

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 01 May 1990

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Qualifiers

Article

Conference

SOCG

Sponsor:

SOCG: 6th Annual Conference on Computational Geometry

June 7 - 9, 1990

California, Berkley, USA

Acceptance Rates

Overall Acceptance Rate 625 of 1,685 submissions, 37%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

22
Total Citations
View Citations
77
Total Downloads

Downloads (Last 12 months)33
Downloads (Last 6 weeks)6

Reflects downloads up to 10 Nov 2024

Other Metrics

View Author Metrics

Citations

Cited By

View all

Vilar RShin H(2013)Communication-Aware Task Assignment for UAV Cooperation in Urban EnvironmentsIFAC Proceedings Volumes10.3182/20131120-3-FR-4045.0004846:30(352-359)Online publication date: 2013
https://doi.org/10.3182/20131120-3-FR-4045.00048
Johnson JHauser K(2012)Optimal acceleration-bounded trajectory planning in dynamic environments along a specified path2012 IEEE International Conference on Robotics and Automation10.1109/ICRA.2012.6225233(2035-2041)Online publication date: May-2012
https://doi.org/10.1109/ICRA.2012.6225233
Glassman ETedrake R(2010)A quadratic regulator-based heuristic for rapidly exploring state space2010 IEEE International Conference on Robotics and Automation10.1109/ROBOT.2010.5509718(5021-5028)Online publication date: May-2010
https://doi.org/10.1109/ROBOT.2010.5509718
Goerzen CKong ZMettler B(2010)A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV GuidanceJournal of Intelligent and Robotic Systems10.1007/s10846-009-9383-157:1-4(65-100)Online publication date: 1-Jan-2010
https://dl.acm.org/doi/10.1007/s10846-009-9383-1
Goerzen CKong ZMettler B(2009)A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV GuidanceSelected papers from the 2nd International Symposium on UAVs, Reno, Nevada, U.S.A. June 8–10, 200910.1007/978-90-481-8764-5_5(65-100)Online publication date: 17-Nov-2009
https://doi.org/10.1007/978-90-481-8764-5_5
Jae Bum Jung Ghrist R(2008)Pareto optimal multi-robot coordination with acceleration constraints2008 IEEE International Conference on Robotics and Automation10.1109/ROBOT.2008.4543491(1942-1947)Online publication date: May-2008
https://doi.org/10.1109/ROBOT.2008.4543491
Fraichard TLaugier C(2005)Kinodynamic planning in a structured and time-varying workspaceGeometric Reasoning for Perception and Action10.1007/3-540-57132-9_2(19-37)Online publication date: 28-May-2005
https://doi.org/10.1007/3-540-57132-9_2
Matsumoto KRude M(1998)A simple, space-time-symmetric collision avoidance method for autonomous vehiclesProceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)10.1109/ROBOT.1998.680911(3159-3166)Online publication date: 1998
https://doi.org/10.1109/ROBOT.1998.680911
Shkel ALumelsky V(1997)Incorporating body dynamics into sensor-based motion planning: the maximum turn strategyIEEE Transactions on Robotics and Automation10.1109/70.65016613:6(873-880)Online publication date: Jan-1997
https://doi.org/10.1109/70.650166
Shkel ALumelsky V(1995)The jogger's problem: accounting for body dynamics in real-time motion planningProceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots10.1109/IROS.1995.526254(441-447)Online publication date: 1995
https://doi.org/10.1109/IROS.1995.526254
Show More Cited By

View Options

View options

PDF

View or Download as a PDF file.

PDF

eReader

View online with eReader.

eReader

Get Access

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Cited By

Index Terms

Recommendations

Asymptotically Optimal Planning by Feasible Kinodynamic Planning in a StateźCost Space

State Supervised Steering Function for Sampling-based Kinodynamic Planning

Kinodynamic Motion Planning of a Skid-Steering Mobile Robot Using RRTs

Comments

Published In

Sponsors

Publisher

Publication History

Permissions

Check for updates

Qualifiers

Conference

Acceptance Rates

Other Metrics

Article Metrics

Other Metrics

Cited By

PDF

eReader

Login options

Full Access

References

Cited By

Index Terms

Recommendations

Asymptotically Optimal Planning by Feasible Kinodynamic Planning in a StateźCost Space

State Supervised Steering Function for Sampling-based Kinodynamic Planning

Kinodynamic Motion Planning of a Skid-Steering Mobile Robot Using RRTs

Comments

Information

Published In

Sponsors

Publisher

Publication History

Permissions

Check for updates

Qualifiers

Conference

Acceptance Rates

Contributors

Other Metrics

Bibliometrics

Article Metrics

Other Metrics

Citations

Cited By

View options

PDF

eReader

Get Access

Login options

Full Access

Figures

Other

Share

Share this Publication link

Share on social media

Affiliations