A path space approach to nonholonomic motion planning in the presence of obstacles
نویسندگان
چکیده
منابع مشابه
A path space approach to nonholonomic motion planning in the presence of obstacles
This paper presents an algorithm for finding a kinematically feasible path for a nonholonomic system in the presence of obstacles. We first consider the path planning problem without obstacles by transforming it into a nonlinear least squares problem in an augmented space which is then iteratively solved. Obstacle avoidance is included as inequality constraints. Exterior penalty functions are u...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 1997
ISSN: 1042-296X
DOI: 10.1109/70.585905