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Kinodynamic Constraints in Motion Planning: Challenges and Solutions

Explore the complexities of kinodynamic motion planning in NUS CS 5247 with David Hsu. Investigate motion and nonholonomic constraints, configuration spaces, and dynamic constraints in examples like wheeled vehicles. Discover reparametrization techniques to transform paths for improved feasibility.

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Kinodynamic Constraints in Motion Planning: Challenges and Solutions

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  1. Kinodynamic Motion Planning NUS CS 5247 David Hsu

  2. Motion constraints Can a car always go from point A to B? ??? NUS CS 5247 David Hsu

  3. Configuration space & tangent space (x,y,q) q q y x NUS CS 5247 David Hsu

  4. Kinodynamic constraints • Nonholonomic constraints • Non-integrable relationship between configuration and velocity • Example. Wheeled vehicle • Dynamic constraints NUS CS 5247 David Hsu

  5. Path transformation holonomic path nonholonomic path Can this always be done? Sometimes (paper by Svestka & Overmars) NUS CS 5247 David Hsu

  6. Reparametrization of motion constraints reparametrized original constraints (papers by Hsu et al. and Donald et al.) NUS CS 5247 David Hsu

  7. Car example NUS CS 5247 David Hsu

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