第四节4任务1基于采样的.pdf

Lecture 4 KINODYNAMIC PATH FINDING 主讲人 Fei Gao Ph.D. in Robotics Hong Kong University of Science and Technology Assistant Professor，Zhejiang University Outline 1. Introduction 2. State Lattice Planning 3. Kinodynamic RRT* 4. Hybrid A* 5. Homework 2 Introduction 3 What is kinodynamic Kinodynamic : Kinematic + Dynamic The kinodynamic planning problem is to synthesize a robot motion subject to simultaneous kinematic constraints, such as oiding obstac , and dynamics constraints, such as modulus bounds on velocity, acceleration, and force. A kinodynamic solution is a mapping from time to generalized forces or accelerations. —— Kinodynamic Motion Planning, Bruce Donald, Patrick X ier, John Canny, John Reif • Differentially constrained • Up to force (acceleration) 4 Why kinodynamic planning ? Straight-line connections between pairs of states are typically not valid trajectories due to the system’s differential constraints Ask: We h e the back-end optimization, why kinodynamic planning? Recall the old-school pipeline: Mission Path Finding Trajectory Plan Optimization