Development of Heuristics for Direct Generation of Trajectories
Camilo Ordóñez, Mario Y. Harper, Jonathan T. Boylan, Emmanuel G. Collins · 2025
Because SBMPO propagates a dynamic (or extended kinematic model) to generate a tree, time-dependence of the path is inherent. Hence, SBMPO can directly generate trajectories (as opposed to paths). However, for SBMPO to work efficiently, heuristics that work with dynamic models must be developed – this is not a trivial task. To develop relevant heuristics, we consider simple systems shown that are representative of components of systems that occur respectively in mobile robots and manipulators. The chapter explores velocity-aware heuristics, as well as heuristics designed for time and energy optimality.