Title :
Nonholonomic multibody mobile robots: controllability and motion planning in the presence of obstacles
Author :
Barraquand, Jérôme ; Latombe, Jean-Claude
Author_Institution :
Dept. of Comput. Sci., Stanford Univ., CA, USA
Abstract :
It is shown that the well-known controllability rank condition theorem is applicable to nonholonomic multibody robots, even when there are inequality constraints on the velocity. This makes it possible to subsume and generalize several controllability results published in the robotics literature concerning nonholonomic mobile robots, and to infer new results. Also described is an implemented planner based on these results. Experimental results obtained with this planar are given
Keywords :
controllability; mobile robots; navigation; planning (artificial intelligence); controllability rank condition theorem; inequality constraints; mobile robots; motion planning; nonholonomic multibody robots; path planning; Computer science; Constraint theory; Controllability; Mobile robots; Motion planning; Orbital robotics; Path planning; Robot control; Velocity control; Wheels;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131750
