RRTのバンバン制御による高速化
Bang-Bang Boosting of RRTs
同期二重積分器の最適制御を用いてRRTの性能を大幅に改善する手法を提案し、最大2000次元で計算時間を桁違いに短縮した。
著者: Alexander J. LaValle, Basak Sakcak, Steven M. LaValle
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper presents methods for dramatically improving the performance of sampling-based kinodynamic planners. The key component is the first-known complete, exact steering method that produces a time-optimal trajectory between any states for a vector of synchronized double integrators. This method is applied in three ways: 1) to generate RRT edges that quickly solve the two-point boundary-value problems, 2) to produce a (quasi)metric for more accurate Voronoi bias in RRTs, and 3) to iteratively time-optimize a given collision-free trajectory. Experiments are performed for state spaces with up to 2000 dimensions, resulting in improved computed trajectories and orders of magnitude computation time improvements over using ordinary metrics and constant controls.
