LQR-RRT* method is used for random motion planning of a simple pendulum in it's phase plot
Switch branches/tags
Nothing to show
Clone or download
Latest commit 1c7c75e Mar 18, 2017
Failed to load latest commit information.
README.md Update README.md Mar 18, 2017
pend_rrt.m Add files via upload Mar 15, 2017



LQR heuristic as an extension to sample based motion planning algorithms, such as RRT or RRT*, can be a relatively low-cost distance metric and find optimal plans in domains with complex or underactuated dynamics. Below, is the phase plot propagation of the simple pendulum:


More on this at: http://people.csail.mit.edu/tlp/pdf/2012/ICRA12_1657_FI.pdf