Randomized Kinodynamic Planning
@article{LaValle2001RandomizedKP, title={Randomized Kinodynamic Planning}, author={Steven M. LaValle and James 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…
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Randomized kinodynamic planning
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References
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Randomized kinodynamic planning
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- 1999
A state-space perspective on the kinodynamic planning problem is presented, and a randomized path planning technique that computes collision-free kinodynamic trajectories for high degree-of-freedom problems is introduced.
Kinodynamic motion planning amidst moving obstacles
- Computer ScienceProceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
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This paper presents a randomized motion planner for kinodynamic asteroid avoidance problems, in which a robot must avoid collision with moving obstacles under kinematic, dynamic constraints and reach…
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