Title :
Dynamic path modification for car-like nonholonomic mobile robots
Author :
Khatib, M. ; Jaouni, H. ; Chatila, R. ; Laumond, J.P.
Author_Institution :
LAAS-CNRS, Toulouse, France
Abstract :
A method combining planning and reactive control for car-like nonholonomic mobile robots is discussed. Firstly, a “bubble” for a car-like mobile robot is defined as the locally reachable space from a given configuration considering the obstacles and using the appropriate metric. Then a flexible feasible trajectory, based on the elastic band concepts, is constructed. This trajectory is smoothed using Bezier curves satisfying a minimum curvature constraint, and a parameterization is proposed which satisfies the robot kinematics constraints
Keywords :
mobile robots; motion control; path planning; robot kinematics; Bezier curves; car-like nonholonomic mobile robots; dynamic path modification; elastic band concepts; flexible feasible trajectory; kinematics constraints; locally reachable space; minimum curvature constraint; trajectory smoothing; Extraterrestrial measurements; Mobile robots; Motion control; Orbital robotics; Polynomials; Robot kinematics; Smoothing methods;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606730
