학술논문
RRTs for nonlinear, discrete, and hybrid planning and control
Document Type
Conference
Author
Source
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Decision and control Decision and Control, 2003. Proceedings. 42nd IEEE Conference on. 1:657-663 Vol.1 2003
Subject
Language
ISSN
0191-2216
Abstract
In this paper, we describe a planning and control approach in terms of sampling using Rapidly-exploring Random Trees (RRTs), which were introduced by LaValle. We review RRTs for motion planning and show how to use them to solve standard nonlinear control problems. We extend them to the case of hybrid systems and describe our modifications to LaValle's Motion Strategy Library to allow for hybrid motion planning. Finally, we extend them to purely discrete spaces (using heuristic evaluation as a distance metric) and provide computational experiments comparing them to conventional methods, such as A.