Nonholonomic Path Planning Using Harmonic Functions
نویسندگان
چکیده
A method is presented for planning obstacle-avoiding paths for a system which exhibits nonholonomic constraints. The method is based on the use of harmonic functions. Linear constraints on the velocity of a nonholonomic system can be directly expressed as Neumann boundary conditions for a harmonic function. Such boundary conditions are easily represented in a resistive network. The resulting potential represents an integration of nonholonomic constraints over an admissible subset of connguration space. The method is applied to path planning for simple wheeled vehicles.
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