we design a two-stage scheme to consider trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in presence of static obstacles. within the first stage, regarding the static obstacles we develop a method that searches the workspace for the shortest possible path between start and goal configurations by constructing a graph on a portion of the confi...

An integrated visual-based approach to motion planning and control of a nonholonomic wheeled mobile robot is presented. Vision is used to localize the obstacles and the robot and for real-time feedback control of the vehicle motion. An A∗based motion planner is used to search the discretized robot configuration space for collisionfree paths. Nonholonomic constraints are taken into account by pr...

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 ran...

|A nonholonomic motion planner for mobile manipulators moving in cluttered environments is presented. The approach is based on a discontinous feedback law under the infuence of a special potential eld. Convergence is shown via Lyapunov's direct method. Utilizing redundancy, the methodology allows the system to perform secondary, connguration dependent, objectives such as singularity avoidance. ...

A freeying space robot with a 6 DOF manipulator cannot follow an arbitrary trajectory in the 9D generalized coordinates(3 of the satellite orientation and 6 of the manipulator) with only manipulator joint control, though it was shown to be commonly controllable in the literature. In this paper, we propose a method to approximate the desired 9D path by introducing a perturbation around it. We ca...

We present a simple approach for planning the motion of nonholonomic robots among obstacles. Existing methods lead to open-loop solutions which are either obtained in two stages, approximating a previously built holonomic path, or computationally intensive, being based on configuration space discretization. Our nonholonomic planner employs a direct projection strategy to modify on-line the outp...

Planning a path for a nonholonomic robot is a challenging topic in motion planning and it becomes more difficult when the desired path contains narrow passages. This kind of scenario can arise, for instance, when quadcopters search a collapsed building after a natural disaster. Choosing the quadcopter as the target platform, this paper proposes the Kinodynamic Aggressive Trajectory (KAT) motion...

Conventional nonholonomic motion planning and control theories do not directly apply to “overconstrained vehicles,” such as the Sojourner vehicle of the Mars Pathfinder mission. This paper discusses some basic issues of motion planning and control for this potentially important class of mobile robots. A power dissipation approach is used to model the governing equations of overconstrained vehic...

Conventional nonholonomic motion planning and control theories do not directly apply to “overconstrained vehicles,” such as the Sojourner vehicle of the Mars Pathfinder mission. This paper investigates some basic issues that are necessary to build a motion planning and control framework for this potentially important class of mobile robots. A power dissipation approach is used to model the gove...

In this paper we present a formalization of behavior-based planning for nonholonomic robotic systems. This work provides a framework that integrates features of reactive planning models with modern control-theory-based robotic approaches in the area of path-planning for nonholonomic robots. In particular, we introduce a motion description language, MDLe, that provides a formal basis for robot p...