Kinodynamic Motion Planning

Abstract

Abstract-This paper extends the capabilities of the harmonic potential field approach to planning to cover both the kinematic and dynamic aspects of a robot's motion. The suggested approach converts the gradient guidance field from a harmonic potential to a control signal by augmenting it with a novel type of dampening forces suggested in this paper called: nonlinear, anisotropic, dampening forces (NADFs). The combination of the two provides a signal that can both guide a robot and effectively manage its dynamics. The kinodynamic planning signal inherits, fully, the guidance capabilities of the harmonic gradient field. It can also be easily configured to efficiently suppress the inertia-induced transients in the robot's trajectory without compromising the speed of operation. The approach works with dissipative systems as well as systems acted on by external forces without needing full knowledge of the system's dynamics. Theoretical developments and simulation results are provided in the paper.

Collision-free navigation of an autonomous unmanned helicopter in unknown urban environments: sliding mode and MPC approaches

“…(1) The speed profile is computed prior to generation of probational trajectories by execution of the recursive rules (13) and (14) in the order determined by the pattern; the recursion is initialized with ν ± (0|k) := v(k) .…”

“…More recent work develops this concept to provide better performance with local minima, e.g, refs. [13,19]. Some other examples are concerned with the use of the vector field histogram and the dynamic window.…”

A Real-Time Hydrodynamic-Based Obstacle Avoidance System for Non-holonomic Mobile Robots with Curvature Constraints

“…To produce a feasible path that avoids obstacles in a cluttered environment, waypoint navigation method has been a viable approach used to generate a sequence of waypoints connected via a path primitive [36,37] for reactive trajectory generation, while the entire path satisfies the smoothness requirement or some other criterion and respects the kinodynamic constraints imposed on the vehicle motion such as the constraints on the instantaneous velocities that can be achieved [2,22]. However, the path primitives have to be recomputed whenever some of the waypoints built between the start and the goal are changed.…”

“…Furthermore, the entire path could be lengthy because of many detours. HPF-based non-holonomic path planning for a mobile robot subject to kinodynamic constraints [17,22,26] takes advantages of features of streamlines that are very appropriate for building a directional navigation system: (i) Streamlines are rich, thus, enabling the selection of appropriate paths for the planner. The desired state trajectory to be followed by a robot is determined only by the input defined by HPFs, i.e., along a streamline-based trajectory compatible with the kinodynamic constraints of the motion, even in high-speed motion [12].…”

“…Lau et al [18] provide a streamline-based kinodynamic motion planning approach to avoid elliptical obstacles, guaranteeing that both velocity and curvature are within limits by adjusting the strength of a source and a sink if a portion of the 3D trajectory violates the kinematic constraints. Recent work [26] used the gradient of HPF as an additional input to alter the motion pattern of a two-wheeled drive mobile robot based on the stabilizing controller design using an invariant manifold to avoid the obstacles, thus, extending the guidance method of Reference [22] based on the HPF only. Along this line of HPF-based non-holonomic path planning work, this work starts with the point that the curvature constraint, viewed as a constrained input to (1), significantly restricts the selection or generation of allowable paths to be followed in a cluttered environment.…”