CS 326A: Motion Planning ai.stanford.edu/~latombe/cs326/2007/index.htm Kinodynamic Planning and Navigation with Movable Obstacles

Nonholonomic vs. Dynamic Constraints  Nonholonomic constraint: f(q,q’) = 0  Dynamic constraints: f(q,q’,q’’) = 0 s = (q,q’)  g(s,s’) = 0  1 st paper: Treatment of dynamic constraints similar to “direct planning” method for nonholonomic robots, but with random selection of control inputs Real-time planning to deal with moving obstacles with unknown trajectories

Navigation with Movable Obstacles  Under-specified goal  Large configuration space …  … but paths lie in relatively low dimensional subspaces