IROS 2015poster9 citations
Metric cells: Towards complete search for optimal trajectories
Devin Balkcom, Ajay Kannan, Yu-Han Lyu, Weifu Wang, Yinan Zhang
Abstract
This paper presents a definition of convexity useful for describing local optimality in configuration spaces, proves that finding convex regions is relatively easy, and presents an algorithm for approximating the free configuration space using a set of such convex regions. The paper examines simple but interesting systems: serial planar arms with revolute joints, and a Reeds-Shepp car. The paper experimentally explores an approach for finding good (although not necessarily optimal) trajectories using the derived data structure.
BibTeX
@inproceedings{iros2015_metriccellstowar,
title = {Metric cells: Towards complete search for optimal trajectories},
author = {Devin Balkcom and Ajay Kannan and Yu-Han Lyu and Weifu Wang and Yinan Zhang},
booktitle = {IROS 2015},
year = {2015}
}