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ICRA
1994
IEEE

Local Incremental Planning for Nonholonomic Mobile Robots

10 years 3 months ago
Local Incremental Planning for Nonholonomic Mobile Robots
We present a simple approach for planning the motion of nonholonomic robots among obstacles. Existing methods lead to open-loop solutions which are either obtained in two stages, approximating a previously built holonomic path, or computationally intensive, being based on configuration space discretization. Our nonholonomic planner employs a direct projection strategy to modify on-line the output of a holonomic incremental planner, and generates velocity control inputs that realize the desired motion in a least-squares sense. As a result, a feedback scheme is obtained which can use only local sensor information. The proposed approach is applied to unicycle kinematics, with artificial potential fields or vortex fields as local holonomic planners.
Alessandro De Luca, Giuseppe Oriolo
Added 08 Aug 2010
Updated 08 Aug 2010
Type Conference
Year 1994
Where ICRA
Authors Alessandro De Luca, Giuseppe Oriolo
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