Title :
Nonholonomic Path Planning Based on Virtual Obstacle in Circuit Map
Author :
Liu, Hongxun ; Sun, Ying ; Liu, Zuojun ; Yang, Qingxin ; Lin, Tao
Author_Institution :
Hebei Univ. of Technol., Tianjin
Abstract :
The nonholonomic constraint in path planning of wheeled mobile robot is described by setting virtual obstacles in circuit map. Virtual obstacles arc 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 and vehicle are solved.
Keywords :
collision avoidance; mobile robots; motion control; circuit map; nonholonomic path planning; parking posture; virtual obstacle; wheeled mobile robot; Circuits; Computer science; Mobile robots; Orbital robotics; Path planning; Robot kinematics; Robotics and automation; Sun; Vehicles; Wheels; circuit map; nonholonomic; path planning; virtual obstacle; wheeled mobile robot;
Conference_Titel :
Integration Technology, 2007. ICIT '07. IEEE International Conference on
Conference_Location :
Shenzhen
Print_ISBN :
1-4244-1092-4
Electronic_ISBN :
1-4244-1092-4
DOI :
10.1109/ICITECHNOLOGY.2007.4290434
