Trajectory Planning Using Dynamics and Power Models: A Heuristics Based Approach

This book shows how to plan trajectories (i.e. time-dependent paths) for autonomous robots using a dynamic model within the A* framework.

Drawing from optimal control's model predictive control framework, the book develops a paradigm called Sampling Based Model Predictive Optimization (SBMPO), which generates graph trees through input sampling of a dynamic model, enabling A*-type algorithms to find optimal trajectories. The book covers various robotic platforms and tasks, including manipulat...