Paper Info
Title
An Experimental Analysis on the Necessary and Sufficient Conditions for the RRT* Applied to Dynamical Systems.
Abstract
In this paper, we study some properties of several local planners for nonholonomic dynamical systems to achieve asymptotic global optimality through the RRT*. More specifically, we study the conditions that a local steering method must have to produce global optimal trajectories in an environment with obstacles. The main properties we analyse in the steering methods are the following: (1) Whether or not the steering method produces local optimal motion primitives (optimal letters). (2) Whether or not the steering method concatenates the local optimal primitives in such a way that the resulting concatenation is also optimal (optimal words). (3) Whether or not the steering method produces trajectories that respect the topological property. Experimentally, it is studied how those properties affect the speed of convergence to the globally optimal solution, moreover, their sufficiency and necessity is also validated, all making use of the problem of finding the time-optimal trajectories for a differential drive robot in the presence of obstacles. We also discard conditions that show not to be necessary and we give some insight on the necessary and sufficient conditions for the RRT* to asymptotically converge to optimal trajectories, which is indeed the sough research target.
Year
DOI
Venue
2018
10.1007/978-3-030-44051-0_48
WAFR
DocType
Citations 
PageRank 
Conference
0
0.34
References 
Authors
0
3
Name
Order
Citations
PageRank
Israel Becerra1135.26
Heikel Yervilla-Herrera200.34
Rafael Murrieta-Cid335931.97