Kinodynamic Motion Planning Amidst Moving Obstacles

  title={Kinodynamic Motion Planning Amidst Moving Obstacles},
  author={Robert Kindel and David Hsu and Jean-Claude Latombe and Stephen M. Rock},
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 captures the connectivity of the space. However, the planner does not precompute a roadmap as most… CONTINUE READING
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Publications referenced by this paper.
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Control - based randomized motion planning for dynamic environments

  • J. C. Latombe, R. Motwani
  • To appear in Workshop on the Algorithmic…
  • 2000

Real-Time Dynamic Trajectory Optimization with Application to Free-Flying Space Robots

  • D. W. Miles
  • PhD thesis,
  • 1997

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