---
title: "Finding Collision-Free Smooth Trajectories for a Non-Holonomic Mobile Robot"
authors:
  - "Jean-Paul Laumond"
doi: ""
url: "https://ijcai.org/proceedings/1987/226"
pdf: "https://ijcai.org/proceedings/1987/0226.pdf"
venue: "Proceedings of the Tenth International Joint Conference on Artificial Intelligence"
year: 1987
pages: "1120-1122"
track: "Robotics"
keywords:
---

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

Jean-Paul Laumond

*Proceedings of the Tenth International Joint Conference on Artificial Intelligence*, 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 .