| Randomized Kinodynamic Motion Planning with Moving Obstacles (2001) | |||||||||||||||||
Abstract | |||||||||||||||||
| This paper presents a novel randomized motion planner for robots that must achieve a specified goal under kinematic and/or dynamic motion constraints while avoiding collision with moving obstacles with known trajectories. The planner encodes the motion constraints on the robot with a control system and samples the robot's state time space by picking control inputs at random and integrating its equations of motion. The result is a probabilistic roadmap of sampled state time points, called milestones, connected by short admissible trajectories. | |||||||||||||||||
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