Nonholonomic Motion Planning by Means of Particles

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

[1]  L. Dubins.  On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents , 1957 .

[2]  Thierry Fraichard,et al.  Continuous-curvature path planning for car-like vehicles , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[3]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[4]  Sebastian Mosbach,et al.  Elastic Bands For Nonholonomic Car-Like Robots: Algorithms and Combinatorial Issues , 1998 .

[5]  Oussama Khatib,et al.  Elastic bands: connecting path planning and control , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[6]  Lakmal D. Seneviratne,et al.  A Shortest Path Based Path Planning Algorithm for Nonholonomic Mobile Robots , 1999, J. Intell. Robotic Syst..

[7]  Steven M. LaValle,et al.  Rapidly-Exploring Random Trees: Progress and Prospects , 2000 .

[8]  Birgit Graf,et al.  Flexible Path Planning for Nonholonomic Mobile Robots , 2001 .