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We present a motion planner for planning through space-time with dynamicobstacles, velocity constraints, and unknown arrival time. Our algorithm,Space-Time RRT* (ST-RRT*), is a probabilistically complete, bidirectionalmotion planning algorithm, which is asymptotically optimal with respect to theshortest arrival time. We experimentally evaluate ST-RRT* in both abstract (2Ddisk, 8D disk in cluttered spaces, and on a narrow passage problem), andsimulated robotic path planning problems (sequential planning of 8DoF mobilerobots, and 7DoF robotic arms). The proposed planner outperforms RRT-Connectand RRT* on both initial solution time, and attained final solution cost. Thecode for ST-RRT* is available in the Open Motion Planning Library (OMPL).

ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time