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Kinodynamic motion planning
Open accessAbstract
Kinodynamicplanmng attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints.In the general problem, ggven a robot system, we must find a minimal-time trajectory that goes from a start position and veloclty to a goal position and velocity while avoiding obstacles by a safety margur and respecting constraints cm velocity and acceleration.We consider the simplified case of a point mass under Newtoman mechanics.together with velocity and acceleration bounds.The point must be flown from a start to a goal, amidst polyhedral obstacles in 2D or 3D.Although exact sohztions to this problem are not known, we provide the first provably good approximation algorlthm, and show that it runs in polynomial time.
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Citations
Cited by
Randomized Kinodynamic Planning
LaValle, S. M., & Kuffner, J. J. (2001) · The International Journal of Robotics Research · doi:10.1177/02783640122067453 · Cited by 3,254
Guidelines in nonholonomic motion planning for mobile robots
Laumond, J. P., Sekhavat, S., & Lamiraux, F. (2006) · Lecture Notes in Control and Information Sciences · doi:10.1007/bfb0036070 · Cited by 330
Metadata
- Authors
- Donald, B., Xavier, P., Canny, J., & Reif, J.
- Venue
- Journal of the ACM
- Published
- 1993-11
- Volume
- 40
- Issue
- 5
- Pages
- 1048-1066
- ISSN
- 0004-5411 (ISSN-L)
- 1557-735X
- OpenAlex
- W2048820947
- Cited by
- 458
- References
- 0
- FWCI
- 2.98
- Type
- journal article
- Language
- en
- Open access
- bronze
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- Donald, B., Xavier, P., Canny, J., & Reif, J. (1993). Kinodynamic motion planning. Journal of the ACM. https://doi.org/10.1145/174147.174150
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
