Title :
Virtual Obstacle Based Approach to Path Planning of Mobile Robot with Nonholonomic Constraints
Author :
Zhaoming, Lei ; Hexu, Sun ; Zuojun, Liu ; Tao, Lin ; Peng, Yang
Author_Institution :
Hebei Univ. of Technol., Tianjin
Abstract :
The nonholonomic constraint in path planning is described by setting virtual obstacles. Virtual obstacles are supposed to limit the motion direction and posture in the directions that the robots or vehicles cannot move under nonholonomic constraints. The results of path planning based on virtual obstacle are kinematics traceable. And the parking posture and parallel parking in path planning of mobile robot are solved.
Keywords :
collision avoidance; mobile robots; motion control; robot kinematics; mobile robot; motion direction; nonholonomic constraints; path planning; robot posture; virtual obstacle; Gold; Kinematics; Mobile robots; Path planning; Robotics and automation; Sun; Vehicles; Mobile Robot; Nonholonomic Constraints; Path Planning; Virtual Obstacle;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347401
