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Kinodynamic Motion Planning

Kinodynamic Motion Planning. Motion constraints. Can a car always go from point A to B?. ???. Configuration space & tangent space. ( x,y, q ). q. q. y. x. Kinodynamic constraints. Nonholonomic constraints Non-integrable relationship between configuration and velocity

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Kinodynamic Motion Planning

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  1. Kinodynamic Motion Planning NUS CS 5247 David Hsu

  2. Motion constraints Can a car always go from point A to B? ??? NUS CS 5247 David Hsu

  3. Configuration space & tangent space (x,y,q) q q y x NUS CS 5247 David Hsu

  4. Kinodynamic constraints • Nonholonomic constraints • Non-integrable relationship between configuration and velocity • Example. Wheeled vehicle • Dynamic constraints NUS CS 5247 David Hsu

  5. Path transformation holonomic path nonholonomic path Can this always be done? Sometimes (paper by Svestka & Overmars) NUS CS 5247 David Hsu

  6. Reparametrization of motion constraints reparametrized original constraints (papers by Hsu et al. and Donald et al.) NUS CS 5247 David Hsu

  7. Car example NUS CS 5247 David Hsu

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