Abstract
An optimal kinodynamic motion planning algorithm is presented and described as a generalized label correcting (GLC) method. Advantages of the technique include a simple implementation, convergence to the optimal cost with increasing resolution, and no requirement for a point-to-point local planning subroutine. The principal contribution of this paper is the construction and analysis of the GLC conditions which are the basis of the proposed algorithm.
Cite
CITATION STYLE
Paden, B., & Frazzoli, E. (2020). A Generalized Label Correcting Method for Optimal Kinodynamic Motion Planning. In Springer Proceedings in Advanced Robotics (Vol. 13, pp. 512–527). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-43089-4_33
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