TL;DR
This paper introduces a generalized label correcting (GLC) method for optimal kinodynamic motion planning that is resolution complete, easy to implement, and faster than existing algorithms like SST, without needing a local planning subroutine.
Contribution
The paper presents a novel GLC algorithm for kinodynamic planning that simplifies implementation and improves efficiency compared to prior methods.
Findings
GLC method is resolution complete and does not require local planning subroutines.
Numerical experiments show GLC runs faster than SST.
The paper provides a theoretical analysis of GLC conditions.
Abstract
A resolution complete optimal kinodynamic motion planning algorithm is presented and described as a generalized label correcting (GLC) method. In contrast to related algorithms, the GLC method does not require a local planning subroutine and benefits from a simple implementation. The key contributions of this paper are the construction and analysis of the GLC conditions which are the basis of the proposed algorithm. Numerical experiments demonstrate the running time of the GLC method to be less than the related SST algorithm.
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