Obstacles avoidance for car-like robots integration and experimentation on two robots

In this paper we address the problem of obstacles avoidance for car-like robots. We present a generic nonholonomic path deformation method that has been applied on two robots. The principle is to perturb the inputs of the system in order to move away from obstacles and to keep the nonholonomic constraints satisfied. We present an extension of the method to car-like robots. We have integrated the method on two robots (Dala and CyCab) and carried out experiments that show the portability and genericity of the approach.