  We integrate sampling-based planning techniques with funnel-based feedback
control to develop KDF, a new framework for solving the kinodynamic
motion-planning problem via funnel control. The considered systems evolve
subject to complex, nonlinear, and uncertain dynamics (aka differential
constraints). Firstly, we use a geometric planner to obtain a high-level safe
path in a user-defined extended free space. Secondly, we develop a low-level
funnel control algorithm that guarantees safe tracking of the path by the
system. Neither the planner nor the control algorithm use information on the
underlying dynamics of the system, which makes the proposed scheme easily
distributable to a large variety of different systems and scenarios.
Intuitively, the funnel control module is able to implicitly accommodate the
dynamics of the system, allowing hence the deployment of purely geometrical
motion planners. Extensive computer simulations and experimental results with a
6-DOF robotic arm validate the proposed approach.

Robotics