Local incremental planning for a car-like robot navigating among obstacles
نویسندگان
چکیده
We present a local approach for planning the motion of a car-like robot navigating among obstacles, suitable for sensor-based implementation. The nonholonomic nature of the robot kinematics is explicitly taken into account. The strategy is to modify the output of a generic local holonomic planner, so as to provide commands that realize the desired motion in a leastsquares sense. A feedback action tends to align the vehicle with the local force field. In order to avoid motion stops away from the desired goal, various force fields are considered and compared by simulation.
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مسیریابی حرکت روباتهای ماشینواره با روش پیشروی سریع
The Robot Motion Planning (RMP) problem deals with finding a collision-free start-to-goal path for a robot navigating among workspace obstacles. Such a problem is also encountered in path planning of intelligent vehicles and Automatic Guided Vehicles (AGVs). In terms of kinematic constraints, the RMP problem can be categorized into two groups of Holonomic and Nonholonomic problems. In the first...
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