Finding Collision-Free Smooth Trajectories for a Non-Holonomic Mobile Robot

Laumond, Jean-Paul

Finding Collision-Free Smooth Trajectories for a Non-Holonomic Mobile Robot

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Proceedings of the Tenth International Joint Conference on Artificial Intelligence. Robotics. Pages 1120-1122.

Abstract

Most mobile robots are subject to kinematic constraint s (non-holonomic joints), i.e., the number of degrees of freedom is less than the number of configuration parameters. Such robots can navigate in very constrained space , but at the expense of backing up maneuvers [Laumond 86] . In th i s paper we study the original problem of finding collision- free smooth trajectories , i . e. with never backing up, fo r a circular mobile robot whose the turning radius is lower bounded .

Jean-Paul Laumond. 1987. Finding Collision-Free Smooth Trajectories for a Non-Holonomic Mobile Robot. In Proceedings of the Tenth International Joint Conference on Artificial Intelligence, IJCAI-87. IJCAI, 1120–1122. https://ijcai.org/proceedings/1987/226

@inproceedings{ijcai1987p226,
  title     = {Finding Collision-Free Smooth Trajectories for a Non-Holonomic Mobile Robot},
  author    = {Laumond, Jean-Paul},
  booktitle = {Proceedings of the Tenth International Joint Conference on
               Artificial Intelligence, {IJCAI-87}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {John McDermott},
  pages     = {1120--1122},
  year      = {1987},
  note      = {Robotics},
  url       = {https://ijcai.org/proceedings/1987/226},
}

TY  - CPAPER
TI  - Finding Collision-Free Smooth Trajectories for a Non-Holonomic Mobile Robot
AU  - Laumond, Jean-Paul
T2  - Proceedings of the Tenth International Joint Conference on Artificial Intelligence, IJCAI-87
PB  - International Joint Conferences on Artificial Intelligence
PY  - 1987
SP  - 1120
EP  - 1122
UR  - https://ijcai.org/proceedings/1987/226
ER  -