A motion planner for nonholonomic mobile robots

A motion planner for nonholonomic mobile robots

A New Performance-Based Motion Planner for Nonholonomic Mobile Robots

We address the global trajectory planning problem of nonholonomic mobile robots in environments with static and dynamic obstacles. The global trajectory is composed of regional feasible trajectories which satisfy the dynamics of the robot kinematic model. Piecewise constant parameterization is used to construct regional feasible trajectory and steering control, and collision avoidance criterion...

A Motion Planner for Multiple Mobile Robots

We describe an algorithm for planning the motions of several mobile robots which share the same workspace. Each robot is capable of independent translational motion in two dimensions, and the workspace contains polygonal obstacles. The algorithm computes a path for each robot which avoids all obstacles in the workspace as well as the other robots. It is guaranteed to nd a solution if one exists...

On Motion Planning of Nonholonomic Mobile Robots

Mobile robots that consist of a mobile platform with one or many manipulators, are of great interest in a number of applications. This paper presents a methodology for generating paths and trajectories for both the mobile platform and the manipulator that will take a system from an initial configuration to a pre-specified final one, without violating the nonholonomic constraint. The generated p...

A practical motion planner for all-terrain mobile robots

This paper addresses the motion planning problem for wheeled vehicules moving on rough terrains 1. First, we formalize the placement problem for the case of a rather complex locomotion system consisting of n wheels attached to the robot body by passive suspensions. We next analyze the geometric and kinematic constraints acting on the placements of the robot. Finally, we present a planning metho...