Kinodynamic Motion Planning

Kinodynamic Motion Planning 1 Kinodynamic Motion Planning 5

Kinodynamic planning attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints. In the general problem, given a robot system, we must nd a minimal-time trajectory that goes from a start position and velocity to a goal position and velocity while avoiding obstacles by a safety margin and respecting constraints on velocity and acceleration. We consider th...

Hierarchical Motion Planning with Kinodynamic Feasibility Guarantees

Motion planning for mobile vehicles involves the solution of two disparate sub-problems: the satisfaction of highlevel logical task specifications and the design of low-level vehicle control laws. A hierarchical solution of these two sub-problems is efficient, but may not ensure compatibility between the highlevel planner and the dynamic constraints of the vehicle. To guarantee such compatibili...

Kinodynamic Motion Planning with Moving Obstacles

This paper presents a novel randomized motion planner for robots that must achieve a specified goal under kinematic and/or dynamic motion constraints while avoiding collision with moving obstacles with known trajectories. The planner encodes the motion constraints on the robot with a control system and samples the robot’s state×time space by picking control inputs at random and integrating its ...

Kinodynamic Motion Planning with Viability Models

Kinodynamic Motion Planning Amidst Moving Obstacles

This paper presents a randomized motion planner for kinodynamic asteroid avoidanceproblems, in which a robot must avoid collision with moving obstacles under kinematic, dynamic constraints and reach a specified goal state. Inspired by probabilistic-roadmap (PRM) techniques, the planner samples the state time space of a robot by picking control inputs at random in order to compute a roadmap that...