Bang-Bang Boosting of RRTs
Alexander J. La Valle,Basak Sakcak,Steven M. LaValle,Alexander J. La Valle,Basak Sakcak,Steven M. LaValle
This paper presents methods for dramatically improving the performance of sampling-based kinodynamic planners. The key component is a complete, exact steering method that produces a time-optimal trajectory between any states for a vector of synchronized double integrators. This method is applied in three ways: 1) to generate RRT edges that quickly solve the two-point boundary-value problems, 2) to...
