Kinodynamic motion planning¶
Authors: Bruce Donald, Patrick Xavier, John Canny, John Reif
Published: 1993 (Journal Paper)
Source: Journal of the ACM
DOI: 10.1145/174147.174150
Summary¶
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.