We present a local approach for planning the motion of a car-like robot navigating among obstacles, suitable for sensor-based implementation. The nonholonomic nature of the robot kinematics is explicitly taken into account. The strategy is to modify the output of a generic local holonomic planner, so as to provide commands that realize the desired motion in a least-squares sense. A feedback action tends to align the vehicle with the local force field. In order to avoid motion stops away from the desired goal, various force fields are considered and compared by simulation.
Local incremental planning for a car-like robot navigating among obstacles / Alberto, Bemporad; DE LUCA, Alessandro; Oriolo, Giuseppe. - 2:(1996), pp. 1205-1211. (Intervento presentato al convegno Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) tenutosi a Minneapolis, MN, USA nel 22 April 1996 through 28 April 1996) [10.1109/robot.1996.506871].
Local incremental planning for a car-like robot navigating among obstacles
DE LUCA, Alessandro;ORIOLO, Giuseppe
1996
Abstract
We present a local approach for planning the motion of a car-like robot navigating among obstacles, suitable for sensor-based implementation. The nonholonomic nature of the robot kinematics is explicitly taken into account. The strategy is to modify the output of a generic local holonomic planner, so as to provide commands that realize the desired motion in a least-squares sense. A feedback action tends to align the vehicle with the local force field. In order to avoid motion stops away from the desired goal, various force fields are considered and compared by simulation.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
