Admissible Velocity Propagation : Beyond Quasi-Static Path Planning for High-Dimensional Robots

Understand

Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning.

• The difficult trajectory planning problem is solved in two separate, simpler, steps: first, find a path in the configuration space that satisfies the geometric constraints (path planning), and second, find a time-parameterization of that path satisfying the kinodynamic constraints.
• A fundamental requirement is that the path found in the first step should be time-parameterizable.
• Most existing works fulfill this requirement by enforcing quasi-static constraints in the path planning step, resulting in an important loss in completeness.