Using motion primitives to enforce vehicle motion constraints in sampling-based optimal planners

被引：1
|
作者：
Sakcak, Basak [1 ]
Bascetta, Luca [1 ]
Ferretti, Gianni [1 ]
Prandini, Maria [1 ]
机构：
[1] Politecn Milan, Dipartimento Elettron Informaz & Bioingn, Piazza L Da Vinci 32, I-20133 Milan, Italy
来源：
2018 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS (ISCAS) | 2018年
关键词：
D O I：
10.1109/ISCAS.2018.8351867
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents a newly conceived planning algorithm that is based on the introduction of motion primitives in RRT*. Online computational complexity of RRT* is greatly reduced by pre-computing the optimal constrained trajectories joining pairs of starting and destination configurations in a grid space, while taking into account vehicle motion constraints in the planning task. A numerical example shows the effectiveness of the algorithm.
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页数：5
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