SODA-RRT: Safe Optimal Dynamics-Aware Motion Planning

This paper introduces a performance-aware motion planning approach that generates collision-free paths with guaranteed optimality using invariant sets. The proposed planner constructs a sequence of conflict-free invariant sets, within which closed-loop trajectories maintain safety and performance criteria. Randomly generated waypoints serve as the center for these invariant sets, which are then connected to form a path from the initial to the target point. For each waypoint, an optimization problem determines the largest conflict-free zone and a safe-optimal controller. The novel algorithm termed Safe Optimal Dynamics-Aware Motion Planning (SODA-RRT), incorporates performance-reachability between connected waypoints, thus reducing the need for frequent re-planning. The method's efficacy is demonstrated through spacecraft motion planning scenarios involving debris avoidance, showcasing its potential for real-world applications. Copyright (c) 2024 The Authors.