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Jeon, Jeong hwan
Robotics and Mobility Lab.
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dc.citation.conferencePlace US -
dc.citation.conferencePlace Orlando, FL -
dc.citation.endPage 3282 -
dc.citation.startPage 3276 -
dc.citation.title 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 -
dc.contributor.author Jeon, Jeong hwan -
dc.contributor.author Karaman, Sertac -
dc.contributor.author Frazzoli, Emilio -
dc.date.accessioned 2023-12-20T02:36:48Z -
dc.date.available 2023-12-20T02:36:48Z -
dc.date.created 2019-08-21 -
dc.date.issued 2011-12-12 -
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. -
dc.identifier.bibliographicCitation 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, pp.3276 - 3282 -
dc.identifier.doi 10.1109/CDC.2011.6161521 -
dc.identifier.issn 0191-2216 -
dc.identifier.scopusid 2-s2.0-84860676689 -
dc.identifier.uri https://scholarworks.unist.ac.kr/handle/201301/34444 -
dc.identifier.url https://ieeexplore.ieee.org/document/6161521 -
dc.language 영어 -
dc.publisher IEEE -
dc.title Anytime Computation of Time-Optimal Off-Road Vehicle Maneuvers using the RRT* -
dc.type Conference Paper -
dc.date.conferenceDate 2011-12-12 -

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