Kinodynamic motion planning: A novel type of nonlinear, passive damping forces and advantages

In this article, the capabilities of the HPF approach are extended to tackle the kinodynamic planning case. The extension is provably correct and bypasses many of the problems encountered by previous approaches. It is based on a novel type of nonlinear, passive damping forces called NADFs. The suggested approach enjoys several attractive properties. It is easy to tune, can generate a well-behaved control signal, the approach is flexible and may be applied in a variety of situations, and it is provably-correct. It is resistant to sensor noise, does not require exact knowledge of system dynamics, and can tackle dissipative systems as well as systems under the influence of external forces. The use of the NADF approach extends beyond a single-dynamical agent. It can be adapted for use with a multirobot dynamical system [30] as well as robots with nonholonomic constrains [31]. Most of the problems attributedto the potential field approach, namely the narrow corridor effect, are a result of the misunderstanding of the dual role a potential field plays as a motion actuator and a guidance provider [33]. The NADF approach is a step forward in taking both of these roles into account.