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Carnegie Mellon Robotics Institute

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Abstract

We propose a principled method to create a search space for constrained motion planning, which e ciently encodes only feasible motion plans. The space of possible paths is encoded implicitly in the connections between states, but only feasible and only local connections are allowed. Furthermore, we propose a systematic method to generate a near-minimal set of spatially distinct motion alternatives. This set of motion primitives preserves the connectivity of the representation while eliminating redundancy leading to a very e cient structure for motion planning at the chosen resolution.

Keywords

nonholonomic motion planning lattice control set

Notes

Number of pages: 12

Text Reference

Mikhail Pivtoraiko and Alonzo Kelly, "Constrained Motion Planning in Discrete State Spaces," Field and Service Robotics, July, 2006, pp. 269-280.

BibTeX Reference

@inproceedings{Pivtoraiko_2006_6104,
   author = "Mikhail Pivtoraiko and Alonzo Kelly",
   title = "Constrained Motion Planning in Discrete State Spaces",
   booktitle = "Field and Service Robotics",
   pages = "269-280",
   publisher = "Springer",
   address = "Berlin / Heidelberg",
   month = "July",
   year = "2006",
   volume = "25",
}

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