Kinodynamic motion planning

This paper addresses the problem of kinodynamic motion planning for a non-holonomic bicycle system moving on a 2D plane in minimum time. As a solution to this optimization problem, we propose an algorithm for determining feed-forward control values, which in the absence of disturbances and uncertainties, provide a plan to move a system from an initial state to a goal state, in minimum-time. This algorithm provides great benefits at the actuator level, also known as the Executor. At this level, the algorithm is a planner which searches the state-space for control values that deliver minimum-time state trajectories. By finding feed-forward control values at the actuators level and by combining them with the reactive part of the system present in the feed-back control component, the control system can achieve better performance and smoother response to disturbances.