dc.citation.conferencePlace |
US |
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dc.citation.conferencePlace |
Orlando, FL |
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dc.citation.endPage |
3282 |
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dc.citation.startPage |
3276 |
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dc.citation.title |
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 |
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dc.contributor.author |
Jeon, Jeong hwan |
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dc.contributor.author |
Karaman, Sertac |
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dc.contributor.author |
Frazzoli, Emilio |
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dc.date.accessioned |
2023-12-20T02:36:48Z |
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dc.date.available |
2023-12-20T02:36:48Z |
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dc.date.created |
2019-08-21 |
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dc.date.issued |
2011-12-12 |
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dc.description.abstract |
Incremental sampling-based motion planning algorithms such as the Rapidly-exploring Random Trees (RRTs) have been successful in efficiently solving computationally challenging motion planning problems involving complex dynamical systems. A recently proposed algorithm, called the RRT*, also provides asymptotic optimality guarantees, i.e., almost-sure convergence to optimal trajectories (which the RRT algorithm lacked) while maintaining the computational efficiency of the RRT algorithm. In this paper, time-optimal maneuvers for a high-speed off-road vehicle taking tight turns on a loose surface are studied using the RRT* algorithm. Our simulation results show that the aggressive skidding maneuver, usually called the trail-braking maneuver, naturally emerges from the RRT* algorithm as the minimum-time trajectory. Along the way, we extend the RRT* algorithm to handle complex dynamical systems, such as those that are described by nonlinear differential equations and involve high-dimensional state spaces, which may be of independent interest. We also exploit the RRT* as an anytime computation framework for nonlinear optimization problems. |
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dc.identifier.bibliographicCitation |
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, pp.3276 - 3282 |
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dc.identifier.doi |
10.1109/CDC.2011.6161521 |
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dc.identifier.issn |
0191-2216 |
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dc.identifier.scopusid |
2-s2.0-84860676689 |
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dc.identifier.uri |
https://scholarworks.unist.ac.kr/handle/201301/34444 |
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dc.identifier.url |
https://ieeexplore.ieee.org/document/6161521 |
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dc.language |
영어 |
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dc.publisher |
IEEE |
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dc.title |
Anytime Computation of Time-Optimal Off-Road Vehicle Maneuvers using the RRT* |
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dc.type |
Conference Paper |
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dc.date.conferenceDate |
2011-12-12 |
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