Kinodynamic Motion Planning

This article extends the capabilities of the harmonic potential field (HPF) approach to planning to cover both the kinematic and dynamic aspects of a robot´s motion. The suggested approach converts the gradient guidance field from a harmonic potential to a control signal by augmenting it with a novel type of damping forces called nonlinear, anisotropic, damping forces (NADF). The HPF (harmonic potential field) approach to planning is emerging as a powerful paradigm for the guidance of autonomous agents.