Class #13: Kinodynamic Planning and Navigation
with Movable Obstacles
________________________________________________________________________________________________________________
The ARL
“space” robot (left) is a mobile robot on air bearing. It is
actuated by air thrusters. Planning its motion requires taking dynamic
constraints into account. The second drawing from the left show the robot (gray
disc) negotiating its ways through moving obstacles. The third drawing shows
the robot’s trajectory in configuration x time space (the green cylinders
are the maps of the moving obstacles). The drawing on the right (from Michael Stilman) illustrates motion planning with movable obstacles:
to reach its goal the humanoid robot must push the armchair out of its way.
- Topics
- Dynamic motion constraints
- Treatment of kinodynamic constraints in probabilistic roadmap planner
- Probabilistic roadmap in state x time space
- “Real-time” motion planning
- Navigation with movable obstacles - Required
- PRM-based kinodynamic
planner:
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. [pdf] - Navigation with movable obstacles:
M. Stilman and J.J. Kuffner. Planning Among Movable Obstacles with Artificial Constraints. Workshop on the Algorithmic Foundations of Robotics (WAFR’06), - Other
- Kynodynamic planning:
S. M. LaValle and J. J. Kuffner. Randomized Kinodynamic Planning. International Journal of Robotics Research, 20(5):378--400, May 2001. [pdf]
- Navigation with movable
obstacles:
Michael Stilman’s webpage of videos on navigation with movable obstacles.
- 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] - Powerpoint slides:
o Paper
1
o Paper
2