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
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;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351008
