Completeness of randomized kinodynamic planners with state-based steering
The panorama of probabilistic completeness results for kinodynamic planners is still confusing. Most existing completeness proofs require strong assumptions that are difficult, if not impossible, to verify in practice. To make completeness results more useful, it is thus sensible to establish a clas...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
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2017
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| Online Access: | https://hdl.handle.net/10356/83223 http://hdl.handle.net/10220/42491 |
| _version_ | 1826112056070242304 |
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| author | Caron, Stephane Pham, Quang-Cuong Nakamura, Yoshihiko |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Caron, Stephane Pham, Quang-Cuong Nakamura, Yoshihiko |
| author_sort | Caron, Stephane |
| collection | NTU |
| description | The panorama of probabilistic completeness results for kinodynamic planners is still confusing. Most existing completeness proofs require strong assumptions that are difficult, if not impossible, to verify in practice. To make completeness results more useful, it is thus sensible to establish a classification of the various types of constraints and planning methods, and then attack each class with specific proofs and hypotheses that can be verified in practice. We propose such a classification, and provide a proof of probabilistic completeness for an important class of planners, namely those whose steering method is based on the interpolation of system trajectories in the state space. We also provide design guidelines for the interpolation function and discuss two criteria arising from our analysis: local boundedness and acceleration compliance. |
| first_indexed | 2024-10-01T03:00:41Z |
| format | Conference Paper |
| id | ntu-10356/83223 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:00:41Z |
| publishDate | 2017 |
| record_format | dspace |
| spelling | ntu-10356/832232023-03-04T17:07:08Z Completeness of randomized kinodynamic planners with state-based steering Caron, Stephane Pham, Quang-Cuong Nakamura, Yoshihiko School of Mechanical and Aerospace Engineering 2014 IEEE International Conference on Robotics and Automation (ICRA) Planning Trajectory The panorama of probabilistic completeness results for kinodynamic planners is still confusing. Most existing completeness proofs require strong assumptions that are difficult, if not impossible, to verify in practice. To make completeness results more useful, it is thus sensible to establish a classification of the various types of constraints and planning methods, and then attack each class with specific proofs and hypotheses that can be verified in practice. We propose such a classification, and provide a proof of probabilistic completeness for an important class of planners, namely those whose steering method is based on the interpolation of system trajectories in the state space. We also provide design guidelines for the interpolation function and discuss two criteria arising from our analysis: local boundedness and acceleration compliance. Accepted version 2017-05-25T09:18:54Z 2019-12-06T15:17:47Z 2017-05-25T09:18:54Z 2019-12-06T15:17:47Z 2014 Conference Paper Caron, S., Pham, Q.-C., & Nakamura, Y. (2014). Completeness of randomized kinodynamic planners with state-based steering. 2014 IEEE International Conference on Robotics and Automation (ICRA), 5818-5823. https://hdl.handle.net/10356/83223 http://hdl.handle.net/10220/42491 10.1109/ICRA.2014.6907714 en © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [http://dx.doi.org/10.1109/ICRA.2014.6907714]. 25 p. application/pdf |
| spellingShingle | Planning Trajectory Caron, Stephane Pham, Quang-Cuong Nakamura, Yoshihiko Completeness of randomized kinodynamic planners with state-based steering |
| title | Completeness of randomized kinodynamic planners with state-based steering |
| title_full | Completeness of randomized kinodynamic planners with state-based steering |
| title_fullStr | Completeness of randomized kinodynamic planners with state-based steering |
| title_full_unstemmed | Completeness of randomized kinodynamic planners with state-based steering |
| title_short | Completeness of randomized kinodynamic planners with state-based steering |
| title_sort | completeness of randomized kinodynamic planners with state based steering |
| topic | Planning Trajectory |
| url | https://hdl.handle.net/10356/83223 http://hdl.handle.net/10220/42491 |
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