DocumentCode
1338812
Title
A method of progressive constraints for nonholonomic motion planning
Author
Ferbach, Pierre
Author_Institution
PSA Peugeot Citroen, Velizy, France
Volume
14
Issue
1
fYear
1998
fDate
2/1/1998 12:00:00 AM
Firstpage
172
Lastpage
179
Abstract
In this paper, we address the problem of automatically generating motions for nonholonomic systems consisting of tractors with trailers. The presented method generalizes an existing dynamic programming exploration technique using a progressive constraints approach. It has performed well in experiments with multibody vehicles moving with few reversals in cluttered environments
Keywords
dynamic programming; mobile robots; path planning; road vehicles; automatical motion generation; cluttered environments; dynamic programming exploration technique; mobile robots; multibody vehicles; nonholonomic motion planning; progressive constraints; robot vehicles; tractors; trailers; Control systems; Dynamic programming; Equations; Mobile robots; Motion control; Motion planning; Optimal control; Orbital robotics; Path planning; Vehicles;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.660867
Filename
660867
Link To Document