T*ε—-Bounded-Suboptimal Efficient Motion Planning for Minimum-Time Planar Curvature-Constrained Systems
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00359352" target="_blank" >RIV/68407700:21230/22:00359352 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2022.3149307" target="_blank" >https://doi.org/10.1109/LRA.2022.3149307</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2022.3149307" target="_blank" >10.1109/LRA.2022.3149307</a>
Alternative languages
Result language
angličtina
Original language name
T*ε—-Bounded-Suboptimal Efficient Motion Planning for Minimum-Time Planar Curvature-Constrained Systems
Original language description
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of speeds with unbounded acceleration. This setting can model many systems, such as fixed-wing drones. Unfortunately, planning for such systems might require evaluating many (local) time-optimal transitions connecting two close-by configurations, which is computationally expensive. Existing methods either pre-compute all such transitions in a preprocessing stage or use heuristics to speed up the search, thus foregoing any guarantees on solution quality. Our key insight is that computing all the time-optimal transitions is both (i) computationally expensive and (ii) unnecessary formany problem instances. We show that by finding bounded-suboptimal solutions (solutionswhose cost is bounded by 1 + epsilon times the cost of the optimal solution for any user-provided epsilon) and not time-optimal solutions, one can dramatically reduce the number of time-optimal transitions used. We demonstrate using empirical evaluation that our planning framework can reduce the runtime by several orders of magnitude compared to the state-of-the-art while still providing guarantees on the quality of the solution.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/LTAIZ19013" target="_blank" >LTAIZ19013: Towards Optimal Curvature-Constrained Tours in Robotic Applications</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Robotics and Automation Letters
ISSN
2377-3766
e-ISSN
2377-3766
Volume of the periodical
7
Issue of the periodical within the volume
2
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
4102-4109
UT code for WoS article
000761209800018
EID of the result in the Scopus database
2-s2.0-85124728040