Abstract
Most mobile robots are subject to kinematic constraints (non-holonomic Joints), i.e., the number of degrees of freedom is less than the number of configuration parameters. Such navigate in very constrained space, but at the expense of backing up maneuvers [Laumond 86]. In this paper we study the original problem of finding collision-free smooth trajectories, i.e. with never backing up, for a circular mobile robot whose the turning radius is lower bounded.
Keywords
HolonomicMobile robotKinematicsCollisionRobotTurning radiusCollision avoidanceBounded functionHolonomic constraintsDegrees of freedom (physics and chemistry)TrajectoryComputer scienceRobot kinematicsFree spaceControl theory (sociology)EngineeringArtificial intelligenceMathematicsClassical mechanicsPhysicsAerospace engineeringMathematical analysisControl (management)Computer security
Affiliated Institutions
Related Publications
Near-optimal nonholonomic motion planning for a system of coupled rigid bodies
How does a falling cat change her orientation in midair without violating angular momentum constraint? This has become an interesting problem to both control engineers and robot...
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi...
Stable flocking of mobile agents. I. Fixed topology
This is the first of a two-part paper that investigates the stability properties of a system of multiple mobile agents with double integrator dynamics. In this first part we gen...
Formation Control with Virtual Leaders and Reduced Communications
A feedback control law is given that can achieve a pre-specified formation for a group of mobile autonomous agents in an obstacle-free environment. This formation design uses vi...
Publication Info
- Year
- 1987
- Type
- article
- Pages
- 1120-1123
- Citations
- 122
- Access
- Closed
External Links
Citation Metrics
122
OpenAlex
Cite This
Jean‐Paul Laumond
(1987).
Finding collision-free smooth trajectories for a non-holonomic mobile robot.
, 1120-1123.