Path Optimization for Nonholonomic Systems: Application to Reactive Obstacle Avoidance and Path Planning

This paper presents a method of path optimization for nonholonomic systems. This method consists in iteratively modifying a given feasible path in order to make a cost related to the path decrease. The paper presents two main applications of this method: the first one is an algorithm that solves the problem of path planning for complex kinematic systems (i. e. trucks with two trailers) in extremely constrained environments. The second one is an application in mobile robotics and addresses the problem of reactive trajectory deformation for nonholonomic mobile robots (i. e. a cart towing a trailer) in order to avoid unexpected obstacles, and cope with map uncertainty and localization errors.

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