Paper Info
Title
Kinodynamic Planning in a Structured and Time-Varying Workspace
Abstract
This paper deals with a kinodynamic trajectory planning problem [5] that we call the ‘highway problem’. It consists in planning a time-optimal trajectory for a robot which is travelling in a structured workspace amidst moving obstacles and which is subject to constraints on its velocity and acceleration. By structured workspace, we mean that there are lanes within which the robot is able to move. A lane is characterized by its ‘spine’, i.e. a one-dimensional curve. The robot has to follow a predetermined lane but it may also shift from its lane to an adjacent one.
Year
DOI
Venue
1991
10.1007/3-540-57132-9_2
Geometric Reasoning for Perception and Action
Keywords
DocType
ISBN
time-varying workspace,kinodynamic planning
Conference
3-540-57132-9
Citations 
PageRank 
References 
6
1.45
11
Authors
2
Name
Order
Citations
PageRank
T. Fraichard161.45
Christian Laugier218428.66