2022
On the Efficiency of the SST Planner to Find Time Optimal Trajectories Among Obstacles With a DDR Under Second Order Dynamics
RA-L 2022
In this work, we study a sampling based motion planner able to deal with a kinodynamic problem. We want to move a robot from an initial state to a final one, along the minimum cost trajectory in an environment with obstacles. In particular, we study the effect of using extremal controls as the input