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DKP (Deterministic Kinodynamic Planning) is a bottom-up trajectory planner for robots with flatness properties. DKP builds an exploration tree of which the branches are spline trajectories. DKP employs an A*-like algorithm to select which branch of the tree to grow. The selected trajectories are then grown in a propagation process which respects the kinematic constraints, such as linear/angular speed...
In this paper, we develop an asymmetric s-curve profile method with jerk bounded to obtain high-precision motion and reduce the residual vibration. All possible instances for asymmetric s-curve profile planning are analyzed. The algorithm and its implementation are proposed with a direct and complete method. Simulation results are presented to verify the effectiveness and reliability of the proposed...
This paper presents an approach to time-optimal kinodynamic motion planning for a mobile robot. A global path planner is used to generate collision-free straight-line paths from the robot's position to a given goal location. With waypoints of this path, an initial trajectory is generated which defines the planned position of the robot over time. A velocity profile is computed that accounts for constraints...
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