I want to make path planning algorithm for a quadrotor with RRT in my thesis. I have searched lots of articles and come up with the concept of "dynamic RTT" and one of the articles has a title "kinodynamic RRT*". I have emailed the author of the article with no response.
The main point that I couldn't understand is, we need to sample random state for dynamic RRT like 2 position and 2 velocity values for planar vehicle or an angle and its rate in case of 2D-quadrotor.
How should the samples be so that speeds and positions does not confused and when should I consider the saturation limits of the actuators or vehicle acceleration limits.
I can't understand how to handle what if two consecutive samples for positions are A(0,0) and B(10,10) this needs positive velocity at the point B but sampling can cause negative velocity. Am I wrong?
Other issue is, how should the control signal be determined so that it can be applied for duration of delta t to move as close as possible to the sampled point. I am not sure how to determine the input or move the vehicle.
Do I need optimizations so that it can reach to the sampled point in shortest time possible?
Please let me know if there is a missing part to be understood.
Thanks in advance.
Wish a hopeful new year.