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Kinodynamic Motion Planning (1993)
| Citations: | 132 - 5 self |
BibTeX
@MISC{Donald93kinodynamicmotion,
author = {Bruce Donald and Patrick Xavier and John Reif},
title = {Kinodynamic Motion Planning},
year = {1993}
}
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Abstract
: Kinodynamic planning attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints. In the general problem, given a robot system, we must find a minimal-time trajectory that goes from a start position and velocity to a goal position and velocity while avoiding obstacles by a safety margin and respecting constraints on velocity and acceleration. We consider the simplified case of a point mass under Newtonian 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. While exact solutions to this problem are not known, we provide the first provably good approximation algorithm, and show that it runs in polynomial time. 1 An early version of this work appeared as [CDRX] 2 Computer Science Department, Cornell University, Ithaca, NY 14853 3 Computer Science Division, University of California, Berkeley, CA 94720 4 Computer Science Department, Duke Universit...
Keyphrases
kinodynamic motion planning computer science department good approximation algorithm simplified case polynomial time robot system exact solution start position goal position dynamic constraint early version point mass newtonian mechanic safety margin robot motion problem subject duke universit general problem cornell university kinodynamic planning attempt computer science division minimal-time trajectory acceleration bound amidst polyhedral obstacle
