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2002
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Reactive Navigation for Non-Holonomic Robots using the Ego-Kinematic Space

9 years 5 months ago
Reactive Navigation for Non-Holonomic Robots using the Ego-Kinematic Space
We address the problem of applying reactive navigation methods to non-holonomic robots. Rather than embedding the motion constraints when designing a navigation method, we propose to introduce the robot’s kinematic constraints directly in the spatial representation. In this space - the Ego-Kinematic Space - the robot moves as a “free-flying object”. Hence, standard reactive navigation methods applied to this space will automatically take into account the robot’s kinematic constraints, without additional modifications. This methodology can be used with a large class of constrained mobile platforms (e.g. differential-driven robots, car-like robots, tri-cycle robots). We show experiments involving non-holonomic robots with two reactive navigation methods whose original formulation does not take the robot kinematic constraints into account (the Nearness Diagram Navigation and a Potential Field method).
Javier Minguez, Luis Montano, José Santos-V
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Javier Minguez, Luis Montano, José Santos-Victor
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