On Motion Planning of Nonholonomic Mobile Robots
نویسندگان
چکیده
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 paths are of polynomial nature and therefore are continuous and smooth. The validity of the methodology is demonstrated using differential-drive and car-like mobile manipulator systems.
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