Nonholonomic motion planning for car-like robots
نویسندگان
چکیده
We consider the robot motion planning problem in the presence of non-integrable kinematic constraints, known as non-holonomic constraints. Car-like non-holonomic mobile robots are used for solving this problem, and several implemented planners are discussed. We claim that the randomized methods are more capable of efficiently solving many challenging, high-dimensional problems. Results with randomized planners are very promising to extend our work applying kinodynamic motion planning.
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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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