Randomized Kinodynamic Planning
@article{LaValle2001RandomizedKP,
title={Randomized Kinodynamic Planning},
author={S. LaValle and J. Kuffner},
journal={The International Journal of Robotics Research},
year={2001},
volume={20},
pages={378 - 400}
}This paper presents the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design). The task is to determine control inputs to drive a robot from an ini ial configuration and velocity to a goal configuration and velocity while obeying physically based dynamical models and avoiding obstacles in the robot’s environment. The authors consider generic systems that express the nonlinear dynamics of a robot in terms of the robot’s high-dimensional… CONTINUE READING
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