Class #13: Kinodynamic Planning ________________________________________________________________________________________________________________

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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).