DocumentCode
2328668
Title
A nonlinear programming approach to nonholonomic motion planning with obstacle avoidance
Author
Liu, Jing-Sin ; Wang, Li-Sheng ; Tsai, Lung-Shan
Author_Institution
Inst. of Inf. Sci., Acad. Sinica, Taipei, Taiwan
fYear
1994
fDate
8-13 May 1994
Firstpage
70
Abstract
This paper presents an optimal collision-free path planning algorithm for classical nonholonomic systems in the presence of fixed and known obstacles. Algorithm combines the concept of geometric phase, path integral along an m-polygon and a nonlinear programming formulation of nonholonomic path planning. Two examples, the rolling disk and the kinematic hopping robot, are given to illustrate the effectiveness and flexibility of the proposed algorithm
Keywords
legged locomotion; mobile robots; nonlinear programming; optimal control; path planning; fixed known obstacles; geometric phase; kinematic hopping robot; nonholonomic motion planning; nonlinear programming; obstacle avoidance; optimal collision-free path planning algorithm; path integral; rolling disk; Control systems; Information science; Integral equations; Kinematics; Mobile robots; Motion planning; Orbital robotics; Path planning; Robot control; Robot programming;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.351008
Filename
351008
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