Homotopy aware kinodynamic planning using RRT-based planners
Başak Sakçak, Luca Bascetta, Gianni Ferretti · 2019
This paper introduces a method for kinodynamic planning with homotopy class constraints, and proposes a homotopy class identifier that establishes a geometric relation between a trajectory and a union of convex partitions of the 2D robot workspace. The proposed identifier is shown to be invariant with respect to the trajectories that belong to the same homotopy class, in such a way that each class has its own unique signature. Furthermore, we show that the proposed homotopy class identifier can be easily incorporated in a RRT-based planner, without changing the planning algorithm, while restricting the solution trajectories to a designated homotopy class.