Publication Information
J. H. Reif and S. R. Tate. Approximate Kinodynamic Planning Using L2-norm Dynamic Bounds, in Computers and Mathematics with Applications, Vol. 27, No. 5, 1994, pp. 29--44. RoboticsComplexityJournal
Abstract
In this paper we address the issue of kinodynamic motion planning. Given a point that moves with bounded acceleration and velocity, we wish to find the time-optimal trajectory from a start state to a goal state (a state consists of both a position and a velocity). As finding exact optimal solutions to this problem seems very hard, we present a provably good approximation algorithm using the norm to bound acceleration and velocity. Our results are an extension of the earlier work of Canny, Donald, Reif, and Xavier, who present similar results where the dynamics bounds can be examined in each dimension independently (they use the norm to bound acceleration and velocity).