kinodynamicとは 意味・読み方・使い方

形容詞

kinodynamic (not comparable)

1. Of or relating to a class of problems, in robotics and motion planning, for which velocity, acceleration, and force/torque bounds must be satisfied, together with kinematic constraints such as avoiding obstacles.
   • 1993, Bruce R. Donald, Pat Xavier, John Canny, and John Reif, “Kinodynamic Motion Planning”, in Journal of the ACM‎^[1], volume 40, number 5, DOI:https://doi.org/10.1145/174147.174150, pages 1048-1066:

     Kinodynamic planning attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints. In the general problem, given a robot system, we must find a minimal-time trajectory that goes from a start position and velocity to a goal position and velocity. While exact solutions to this problem are not known, we provide the first provably-good approximation algorithm. and show that it runs in polynomial time.

   • 2016, Oktay Arslan, Karl Berntorp, Panagiotis Tsiotras, “Sampling-based Algorithms for Optimal Motion Planning Using Closed-loop Prediction”, in arXiv‎^[2]:

     Currently, state-of-the-art methods evolve around kinodynamic variants of popular sampling-based algorithms, such as Rapidly-exploring Random Trees (RRTs).