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Motion planning a aerial robot using rapidly-exploring random trees with dynamic constraints

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2 Author(s)
Jongwoo Kim ; Gen. Robotics, Autom., Sensing, & Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA ; Ostrowski, J.P.

We describe some recent work on randomized motion planning algorithms and consider the problem of motion planning for systems with both kinematic and dynamic constraints. Such a problem is often referred to as kinodynamic motion planning. A rapidly-exploring random tree (RRT) is used for the motion planning of a blimp system, and some techniques for improving the performance of the planner are proposed. Based on a dynamic model of a blimp, dynamic constraints are introduced into the algorithm design and simulations are conducted for trajectory generation.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:2 )

Date of Conference:

14-19 Sept. 2003