Randomized Kinodynamic Motion Planning with Moving Obstacles

This paper presents a novel randomized motion planner for robots that must achieve a specified goal under kinematic and/or dynamic motion constraints while avoiding collision with moving obstacles with known trajectories. The planner encodes the motion constraints on the robot with a control system and samples the robot's state

• Type: Journal
• Year: 2002
• Where: IJRR
• Authors: David Hsu, Robert Kindel, Jean-Claude Latombe, Stephen M. Rock
• Keywords: IJRR 2002, Planner, Robot, Time Point