Please help transcribe this video using our simple transcription tool. You need to be logged in to do so.
The RRT* algorithm has recently been proposed as an optimal extension to the standard RRT algorithm . However, like RRT, RRT* is difficult to apply in problems with complicated or underactuated dynamics because it requires the design of a two domain-specific extension heuristics: a distance metric and node extension method. We propose automatically deriving these two heuristics for RRT* by locally linearizing the domain dynamics and applying linear quadratic regulation (LQR). The resulting algorithm, LQR-RRT*, finds optimal plans in domains with complex or underactuated dynamics without requiring domain-specific design choices. We demonstrate its application in domains that are successively torquelimited, underactuated, and in belief space.
Questions and AnswersYou need to be logged in to be able to post here.