Efficient Kinodynamic Trajectory Generation for Wheeled Robots

摘要：

Planning dynamic motion is computationally demanding and thus can hardly be done in real-time onboard robots. In this paper, we present an analytic approximation to predict the dynamic state of wheeled robots with non-holonomic constraints, given a start state and a sequence of piecewise constant controls. Our approximations are accurate and fast to calculate. They can be used to replace numerical integrators in kinodynamic planning algorithms. The predictions are differentiable and allow us to utilize gradient descent methods to solve the inverse dynamics as well and generate trajectories connecting arbitrary points in state space.

作者: Marcell Missura Sven Behnke

作者单位: Autonomous Intelligent Systems Group,University of Bonn,Germany

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4883-4888

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）