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Embedding Nonlinear Optimization in RRT* for Optimal Kinodynamic Planning

Stoneman, Samantha and Lampariello, Roberto (2014) Embedding Nonlinear Optimization in RRT* for Optimal Kinodynamic Planning. In: IEEE Conference on Decision and Control (ISSN: 0733-8716). CDC2014, 15-17 Dec 2014, Los Angeles, USA. ISSN 0733-8716

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Abstract

Some of the latest developments in motion planning methods have addressed the merging of optimal control with sampling-based approaches, to handle the problem of optimal kinodynamic motion planning for complex robot systems in cluttered environments. These include embedding the Linear Quadratic Regulator method in an RRT* context, or solving the kinematic problem with an RRT algorithm first and then feeding the solution to an NLP solver. An alternative approach is presented here, in which NLP is embedded in an RRT* context from the start. The resulting methodological features are illustrated with numerical examples. These include problems in which differential constraints play a fundamental role.

Item URL in elib:https://elib.dlr.de/94483/
Document Type:Conference or Workshop Item (Speech)
Title:Embedding Nonlinear Optimization in RRT* for Optimal Kinodynamic Planning
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Stoneman, Samanthasamantha.stoneman (at) dlr.deUNSPECIFIED
Lampariello, RobertoRoberto.Lampariello (at) dlr.deUNSPECIFIED
Date:December 2014
Journal or Publication Title:IEEE Conference on Decision and Control (ISSN: 0733-8716)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
ISSN:0733-8716
Status:Published
Keywords:Motion planning, Nonlinear Optimization, Optimal control
Event Title:CDC2014
Event Location:Los Angeles, USA
Event Type:international Conference
Event Dates:15-17 Dec 2014
Organizer:IEEE
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: Lampariello, Roberto
Deposited On:09 Jan 2015 16:57
Last Modified:31 Jul 2019 19:51

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