Abstract

This paper presents a state-space perspective on the kinodynamic planning problem, and introduces a randomized path planning technique that computes collision-free kinodynamic trajectories for high degreeof -freedom problems. By using a state space formulation, the kinodynamic planning problem is treated as a 2n-dimensional nonholonomic planning problem, derived from an n-dimensional con guration space. The state space serves the same role as the con guration space for basic path planning; however, standard randomized path planning techniques do not directly apply to planning trajectories in the state space. We have developed a randomized planning approach that is particularly tailored to kinodynamic problems in state spaces, although it also applies to standard nonholonomic and holonomic planning problems. The basis for this approach is the construction of a tree that attempts to rapidly and uniformly explore the state space, o ering bene ts that are similar to those obtained by succ...

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