A nonlinear programming approach to nonholonomic motion planning with obstacle avoidance

This paper presents an optimal collision-free path planning algorithm for classical nonholonomic systems in the presence of fixed and known obstacles. Algorithm combines the concept of geometric phase, path integral along an m-polygon and a nonlinear programming formulation of nonholonomic path planning. Two examples, the rolling disk and the kinematic hopping robot, are given to illustrate the effectiveness and flexibility of the proposed algorithm.<<ETX>>

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