Bondhan Winduratna

Papers

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About

Bondhan Winduratna is a robotics researcher whose work centers on intelligent path planning for autonomous mobile robots, with a particular focus on overcoming the kinematic constraints of nonholonomic systems. His most influential contribution is the development of the "Smoothed A-star Algorithm for Nonholonomic Mobile Robot Path Planning" (2019), which has garnered 31 citations. This work addresses a critical limitation of the conventional A-star algorithm—its tendency to produce paths with sharp, discontinuous turns that are impossible for nonholonomic robots (like cars or differential-drive platforms) to execute smoothly. By integrating a smoothing mechanism into the search process, Winduratna’s method generates feasible, curvature-continuous trajectories without sacrificing optimality or computational efficiency. This innovation bridges the gap between discrete graph search and continuous motion control, making it highly relevant for real-world applications in warehouse logistics, autonomous driving, and service robotics. His research demonstrates a keen ability to solve practical engineering problems by refining foundational algorithms, earning recognition among peers in the robotics and automation community. Winduratna’s work continues to inspire further studies in smooth, constraint-aware path planning for mobile robots.