Kinodynamic Motion Planning Amidst Moving Obstacles

1
Kinodynamic Motion Planning Amidst Moving
Obstacles

• Robert Kindel
• David Hsu
• Jean-Claude Latombe
• Stephen Rock

2
Kinodynamic Planning

• take into account the robots dynamics
• build a roadmap in the state?time space

?
q
3
Equation of Motion

• where
• is the state space of the robot
• is the set of admissible values for the
• control input
• denotes the component of
  this force along the axes

4
Planning Query
? root of T

• Initial
• Goal

?
?

• Expand a tree T iteratively along the time
• axis of the space

5
Roadmap

• How to find the new ?

random a already in T
random an admissible value
random a duration
6
Roadmap

• How to precisely achieve the goal

Whenever a new is added to T check
the edge connecting to for some
in If it is collision-free then the planner
exits with success
7
Avoid Oversampling

• Partition the 2D configuration space of the robot
  into equal-size square bins
• Whenever a new is inserted in T
  determine the bin which it belongs
• At each iteration
• random pick a bin
• random pick a in that bin to expand

8
Simulation
9
Real World