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160
Voted
ICRA
2000
IEEE
2000
IEEE
Kinodynamic Motion Planning Amidst Moving Obstacles
This paper presents a randomized motion planner for kinodynamic asteroidavoidanceproblems, in which a robot must avoid collision with moving obstacles under kinematic, dynamic constraints and reach a specified goal state. Inspired by probabilistic-roadmap (PRM) techniques, the planner samples the state time space of a robot by picking control inputs at random in order to compute a roadmap that captures the connectivity of the space. However, the planner does not precompute a roadmap as most PRM planners do. Instead, for each planning query, it generates, on the fly, a small roadmap that connects the given initial and goal state. In contrast to PRM planners, the roadmapcomputed by our algorithm is a directed graph oriented along the time axis of the space. To verify the planner’s effectiveness in practice, we tested it both in simulated environments containing many moving obstacles and on a real robot under strict dynamic constraints. The efficiency of the planner makes it possibl...
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| Added | 31 Jul 2010 |
| Updated | 31 Jul 2010 |
| Type | Conference |
| Year | 2000 |
| Where | ICRA |
| Authors | Robert Kindel, David Hsu, Jean-Claude Latombe, Stephen M. Rock |
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