Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
Kinodynamic motion planning is a crucial and challenging topic in robotics for planning motion sequences that satisfy movement constraints, such as autonomous driving and robotic manipulation. Kinodynamic motion planning using templates can quickly explore the search space while satisfying nonholonomic constraints. However, such a heuristic is not effective and robust against diverse environments such as the existence of obstacles. This research introduces a rewiring process in template-based RRT can efficiently find high-quality paths while maintaining a fast sampling speed. The experiment in an artificial environment shows that our proposed approach outperforms the baseline and is able to find better solutions in a shorter time.
