Title :
Motion planning for a non-holonomic mobile robot on 3-dimensional terrains
Author_Institution :
LAAS-CNRS, Toulouse, France
Abstract :
Addresses the problem of autonomous navigation of mobile robots on rough terrains. The contribution is a geometrical path planning algorithm that considers the geometry of the robot and its kinematic constraint in order to plan trajectories on a 3D terrain represented by polygonal patches. A first version of this planner has been implemented and simulation results that show the effectiveness of the approach are presented at the end of the paper
Keywords :
computerised navigation; mobile robots; planning (artificial intelligence); 3-dimensional terrains; autonomous navigation; computerised navigation; geometrical path planning algorithm; kinematic constraint; nonholonomic mobile robot; polygonal patches; rough terrains; Computational geometry; Mobile robots; Motion planning; Navigation; Orbital robotics; Path planning; Robot kinematics; Robotics and automation; Vehicles; Wheels;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174714
