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Motion Planning with Dynamic Constraints
Project Description
This research project is aimed at finding new techniques to solve
motion planning problems with non-holonomic constraints. In
particular, we are interested in solving problems involving systems
with constraints on the velocities induced by the system dynamics.
Rapidly-Exploring Random Trees
Rapidly-Exploring Random Trees
(RRTs) are data structures developed in order to efficiently
search high-dimensional spaces. RRTs are constructed incrementally in
a way that quickly reduces the expected distance of a randomly-chosen
point to the tree. RRTs are particularly suited for problems
that involve nonholonomic constraints (such as kinodynamic planning),
but can be applied to searching any high-dimensional space (including
traditional path planning).
Simulation Results
Download images and movies based on our
experiments
with RRTs applied to simulations of hovercrafts and satellites.
Papers and Links
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Research