Class 8 (April 29) : KINODYNAMIC PLANNING
- Topics:
- Equation of motion and dynamic constraints
- State space
- Two-phase planning
- Sampling-based planning
- Required Readings:
- Two-phase planning:
J. Bobrow. Optimal Robot Path Planning Using the Minimum-Time
Criterion. IEEE Journal of Robotics and Automation
4(4):443-449, 1988. pdf
- PRM-based kinodynamic planning:
S.M. LaValle and J. Kuffner. Randomized Kinodynamic Planning.
Int. J. Robotics Research. ps file
- 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
Powerpoint slides: