Kinodynamic Motion Planning with State Lattice Motion Primitives

Mihail Pivtoraiko and Alonzo Kelly. Kinodynamic Motion Planning with State Lattice Motion Primitives. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
Invited paper.

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Abstract

This paper presents a type of motion primitives that can be used for building efficient kinodynamic motion planners. The primitives are pre-computed to meet two objectives: to capture the mobility constraints of the robot as well as possible and to establish a state sampling policy that is conducive to efficient search. The first objective allows encoding mobility constraints into primitives, thereby enabling fast unconstrained search to produce feasible solutions. The second objective enables high quality (lattice) sampling of state space, further speeding up exploration during search. We further discuss several novel results enabled by using such motion primitives for kinodynamic planning, including incremental search, efficient bi-directional search and incremental sampling.

BibTeX

@INPROCEEDINGS{pivtoraiko_kelly_iros11,
  author = {Mihail Pivtoraiko and Alonzo Kelly},
  title = {Kinodynamic Motion Planning with State Lattice Motion Primitives},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2011},
  abstract = {This paper presents a type of motion primitives that can
                  be used for building efficient kinodynamic motion
                  planners. The primitives are pre-computed to meet
                  two objectives: to capture the mobility constraints
                  of the robot as well as possible and to establish a
                  state sampling policy that is conducive to efficient
                  search. The first objective allows encoding mobility
                  constraints into primitives, thereby enabling fast
                  unconstrained search to produce feasible
                  solutions. The second objective enables high quality
                  (lattice) sampling of state space, further speeding
                  up exploration during search. We further discuss
                  several novel results enabled by using such motion
                  primitives for kinodynamic planning, including
                  incremental search, efficient bi-directional search
                  and incremental sampling. },
  bib2html_pubtype = {Refereed Conference Papers},
  bib2html_rescat = {Kinodynamic Planning},
  wwwnote = {<i>Invited paper</i>.}
}