Kinodynamic Motion Planning

Abstract

Kinodynamic planmng 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. © 1993, ACM. All rights reserved.