2000, ‘Kinodynamic Motion Planning Amidst Moving Obstacles

This paper presents a randomized motion planner for kinodynamic asteroid avoidance problems, in which a robot must avoid collision with moving obstacles under kinematic, dynamic constraints and reach a specified goal state. Inspired by probabilistic-roadmap (PRM) techniques, the planner samples the state ¥ time space of a robot by picking control inputs at random in order to compute a roadmap that captures the connectivity of the space. However, the planner does not precompute a roadmap as most PRM planners do. Instead, for each planning query, it generates, on the fly, a small roadmap that connects the given initial and goal state. In contrast to PRM planners, the roadmap computed by our algorithm is a directed graph oriented along the time axis of the space. To verify the planner’s effectiveness in practice, we tested it both in simulated environments containing many moving obstacles and on a real robot under strict dynamic constraints. The efficiency of the planner makes it possible for a robot to respond to a changing environment without knowing the motion of moving obstacles well in advance.