The Fast Marching based algorithm proposed here solves the problem of finding Feedback Control Laws for mobile robots, including nonholonomic vehicles. It integrates in a single Real Time Controller the global motion planning tasks and the collision avoidance capabilities required to efficiently move a mobile robot in a dynamic environment. The solution proposed is fast enough to be used in rea...

A solution of the motion planning without obstacles for the nonholonomic system describing a car with n trailers is proposed. This solution relies basically on the fact that the system is flat with the cartesian coordinates of the last trailer as linearizing output. The Frnet formulas are used to simplify the calculation. The 2-trailers case is treated in details and illustrated through parking...

We describe some recent new approaches for motion planning for nonholonomic systems without drift, developed in joint work of with G. Laaerriere and W. Liu. The main idea is to relate the trajectories of the given system to those of a \Lie bracket extension," and to seek ways to obtain trajectories of the original system that achieve the same eeect as a trajectory of the extended system.

A blimp is a small airship that has no metal framework and collapses when deflated. In the first part of this paper, dynamic modeling of small autonomous non rigid airships is presented, using the Newton-Euler approach. This study discusses the motion in 6 degrees of freedom since 6 independent coordinates are necessary to determine the position and orientation of this vehicle. Euler angles are...

One of the approaches to collision-free non-holonomic motion planning is the \approximation method". The corresponding planners compute rst a holonomic path among obstacles before approximating it by a concatenation of feasible collision-free paths. These methods are one of the rare ones which can lead to exact and complete planners. However, the performance of these planners (in terms of compu...

Mobile manipulator systems comprising of a mobile platform with one or more manipulators are of great interest in a number of applications. This paper presents a modeling of the system without violating the nonholonomic constraints of the platform. Trajectory planning by soft motion and seventh order polynomial to control jerk acceleration, and velocity, is also presented. The hub torque requir...

In this paper, we extend the globally convergent steering algorithm introduced in [13] for regular nonholonomic systems to general systems with singularities. This extension is based on the explicit construction of a lifted system which is regular. We also propose an exact motion planning method for nilpotent systems, which makes use of sinusoidal control laws and generalizes the algorithm pres...

c 1996 IEEE Minneapolis, MN, 1996 Motion Planning for Multiple Mobile Manipulators Jaydev Desai, Chau-Chang Wang, Milo s Zefran and Vijay Kumar General Robotics and Active Sensory Perception (GRASP) Laboratory, University of Pennsylvania 3401 Walnut Street, Room 301C, Philadelphia, PA 19104-6228 Abstract We address the motion planning for \ xtureless" material-handling with multiple manipulator...