Randomized kinodynamic planning

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Randomized kinodynamic planning (2001)

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by Steven M. Lavalle , James J. Kuffner, Jr.

Venue:	THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 2001; 20; 378
Citations:	626 - 35 self

BibTeX

@MISC{Lavalle01randomizedkinodynamic,
    author = {Steven M. Lavalle and James J. Kuffner and Jr.},
    title = {Randomized kinodynamic planning},
    year = {2001}
}

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Abstract

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 initial 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 configuration space. Kinodynamic planning is treated as a motion-planning problem in a higher dimensional state space that has both first-order differential constraints and obstaclebased global constraints. The state space serves the same role as the configuration space for basic path planning; however, standard randomized path-planning techniques do not directly apply to planning trajectories in the state space. The authors have developed a randomized

Keyphrases

state space dimensional state space configuration space high-dimensional configuration space trajectory planning motion-planning problem initial configuration dynamical model trajectory design generic system control input first-order differential constraint global constraint robot environment goal configuration basic path planning nonlinear dynamic kinodynamic planning path-planning technique first randomized approach

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