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A Hybrid Method for Near-Optimal Kinodynamic Planning

Stoneman, Samantha (2014) A Hybrid Method for Near-Optimal Kinodynamic Planning. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2014-2, 68 S.

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Abstract

This thesis presents a novel nonlinear kinodynamic planning method including collision avoidance embedded in a global randomized search algorithm which can be applied to highly constrained orbital dynamics motion planning problems. The method is implemented in the C++ language as a software package called \texttt{p2pOpt}, for point-to-point optimization. \texttt{p2pOpt} combines four integral phases, physics simulation, virtual scene description, randomized sampling, and collision avoidance. The software has been tested on key benchmark problems including planar translation in a highly constrained, cluttered environment, 3DOF translation in orbit using the linearized Hill Dynamics and coupled, non-linear motion of a pendulum. It has been shown to be a fast, near-optimal alternative method to traditional randomized methods that is also capable of evaluating fully non-linear physical problems.

Item URL in elib:https://elib.dlr.de/113269/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:A Hybrid Method for Near-Optimal Kinodynamic Planning
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Stoneman, SamanthaSamantha.Stoneman (at) dlr.deUNSPECIFIED
Date:9 February 2014
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:68
Status:Published
Keywords:Dynamic Motion Planning, Nonlinear Optimization, Randomized Sampling Methods, Autonomous Systems
Institution:Technische Universität München
Department:Earth Oriented Space Science and Technology
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Stoneman, Samantha
Deposited On:19 Jul 2017 15:43
Last Modified:19 Jul 2017 15:43

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