Class #11: Kinodynamic Planning
car is a good example of non-holonomic vehicle: it
has only two controls, but its configuration space has dimension 3. The second
drawing from the left shows the coordination of two non-holonomic
robots among fixed obstacles. The two drawings on the right show a robot (gray
disc) with limited acceleration negotiating its ways through moving obstacles.
The rightmost drawing shows the robot’s trajectory in configuration x
time space (the green cylinders are the maps of the moving obstacles).
- Non-holonomic and dynamic motion constraints
- Motion planner for car-like robot using basic maneuvers
- Transformation of holonomic path into a non-holonomic one
- Treatment of kinodynamic constraints in
probabilistic roadmap planner
- Probabilistic roadmap in state x time space
- Required Readings:
- Basic maneuvers for a car-like robot:
J.P. Laumond. Feasible Trajectories for Mobile Robots with Kinematic
and Environment Constraints. Proc.
Int. Conf. on Intelligent Systems, Amsterdam, pages 346-354, 1986. [Hardcopy will be given
- PRM-based kinodynamic
D. Hsu, R. Kindel, J.C. Latombe, and S. Rock. Randomized Kinodynamic Motion Planning with Moving Obstacles. Int.
J. of Robotics Research, 21(3):233-255, March 2002. [ps] [pdf]
- Other Readings:
- A basic paper:
B. Donald, P. Xavier, J.
Canny, and J. Reif. Kinodynamic
Motion Planning Journal of the ACM, 40(5):1048-1066, 1993. [pdf]
- Planner based on deterministic sampling:
and J.C. Latombe. Nonholonomic Multibody Robots: Controllability and Motion Planning
in the Presence of Obstacles. Algorithmica,
10:121-155, 1993. [Hardcopy available on demand]
- Collection of papers on
non-holonomic motion planning:
Robot Motion Planning and
- Under-actuated robots:
K. M. Lynch, N. Shiroma, H. Arai, and K. Tanie. Collision-free trajectory planning for a 3-DOF
robot with a passive joint. International Journal of Robotics Research,
19(12):1171-1184, December 2000. [pdf] (see also http://lims.mech.nwu.edu/~lynch/papers/index.html#underactuated)
- Powerpoint slides