Nonholonomic Motion Planning by Means of Particles

Author

Kohrt, C. ; Schiedermeier, G. ; Pipe, A.G. ; Kiely, J. ; Stamp, R.

Author_Institution

Berata GmbH, Munich

fYear

2006

fDate

25-28 June 2006

Firstpage

729

Lastpage

733

Abstract

In this article a new approach to planning of a nonholonomic motion is presented. A flexible, intelligent planner based on a static map and the topology of the robot´s environment has been developed. The approach uses ´particles´ to construct automatically a path between two given locations. The generated path is a smooth trajectory, where the length of the path is kept at a minimum and obstacles are avoided. This concept applies to robots meeting the restrictions of a Dubin´s car (nonholonomic robot that can only move forward). After the basic concepts of the approach has been described, simulations will be presented

Keywords

computational geometry; mobile robots; motion control; path planning; position control; robot kinematics; flexible planner; intelligent planner; nonholonomic motion planning; robot path topology; Boundary conditions; Intelligent robots; Joining processes; Mechatronics; Mobile robots; Motion planning; Orbital robotics; Path planning; Robotics and automation; Topology; Pathplanning; autonomous; elastic; nonholonomic; particles;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257680

Filename

4026174