Accelerating Kinodynamic RRT* Through Dimensionality Reduction
Dongliang Zheng,Panagiotis Tsiotras,Dongliang Zheng,Panagiotis Tsiotras
Sampling-based motion planning algorithms such as RRT* are well-known for their ability to quickly find an initial solution and then converge to the optimal solution asymptotically as the number of samples tends to infinity. However, the convergence rate can be slow for high-dimensional planning problems, particularly for dynamical systems where the sampling space is not just the configuration spa...
