Motion Planning with Dynamics

This paper surveys some recent theoretical work in incorporating the dynamics of robot models in motion planning algorithms. Such work is often referred in the literature as kinodynamic motion planning. We rst give an overview of the problem in general and how it diiers from motion planning with pure kinematics. We then describe three model algorithms, each representing one of three broad categories of existing methods to attack problems involving kinodynamic motion planning. For each algorithm, we review the problem considered, assumptions made, the key ideas, experimental results, and possible extensions. Computational complexity, as well as other issues relevant to practical implementations are discussed, including areas of future research.