论文标题
ST-RRT*：通过时空的渐近双向运动计划
ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time
论文作者
论文摘要
我们提出了一个运动规划师，用于通过动态障碍，速度限制和未知到达时间进行计划。我们的算法，时空RRT*（ST-RRT*）是一种概率完整的双向运动计划算法，相对于最短到达时间，该算法是渐近最佳的。我们通过摘要（杂物空间中的2D磁盘，8D磁盘，狭窄的通道问题）和模拟机器人路径计划问题（8DOF移动机器人的顺序计划和7DOF机器人臂）进行实验评估ST-RRT*。提议的计划者在两个初始解决方案时间上都优于RRT连接和RRT*，并达到了最终解决方案成本。 ST-RRT*的代码可在开放运动计划库（OMPL）中找到。
We present a motion planner for planning through space-time with dynamic obstacles, velocity constraints, and unknown arrival time. Our algorithm, Space-Time RRT* (ST-RRT*), is a probabilistically complete, bidirectional motion planning algorithm, which is asymptotically optimal with respect to the shortest arrival time. We experimentally evaluate ST-RRT* in both abstract (2D disk, 8D disk in cluttered spaces, and on a narrow passage problem), and simulated robotic path planning problems (sequential planning of 8DoF mobile robots, and 7DoF robotic arms). The proposed planner outperforms RRT-Connect and RRT* on both initial solution time, and attained final solution cost. The code for ST-RRT* is available in the Open Motion Planning Library (OMPL).
