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Trajectory planning using reachable-state density functions

Mason, Richard and Burdick, Joel W. (2002) Trajectory planning using reachable-state density functions. In: 2002 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 273-280. ISBN 0-7803-7272-7 . https://resolver.caltech.edu/CaltechAUTHORS:20111026-140659451

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Abstract

Presents a trajectory planning algorithm for mobile robots which may be subject to kinodynamic constraints. Using computational methods from noncommutative harmonic analysis, the algorithm efficiently constructs an approximation to the robot's reachable-state density function. Based on a multiscale approach, the density function is then used to plan a path. One variation of the algorithm exhibits time complexity that is logarithmic in the number of steps. Simulations illustrate the method.


Item Type:Book Section
Related URLs:
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http://dx.doi.org/10.1109/ROBOT.2002.1013373 DOIArticle
Additional Information:© 2002 IEEE. Date of Current Version: 07 August 2002.
Record Number:CaltechAUTHORS:20111026-140659451
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20111026-140659451
Official Citation:Mason, R.; Burdick, J.W.; , "Trajectory planning using reachable-state density functions," Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on , vol.1, no., pp. 273- 280 vol.1, 2002 doi: 10.1109/ROBOT.2002.1013373 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1013373&isnumber=21826
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:27459
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:26 Oct 2011 21:17
Last Modified:03 Oct 2019 03:23

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