Motion planning for nonholonomic systems with earlier destination reaching

Motion Planning of nonholonomic systems with Tracking Control Lyapunov Function

A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this paper a tracking control Lyapunov function...

Nonholonomic motion planning for car-like robots

We consider the robot motion planning problem in the presence of non-integrable kinematic constraints, known as non-holonomic constraints. Car-like non-holonomic mobile robots are used for solving this problem, and several implemented planners are discussed. We claim that the randomized methods are more capable of efficiently solving many challenging, high-dimensional problems. Results with ran...

Nonholonomic Motion Planning for Mobile Manipulators

|A nonholonomic motion planner for mobile manipulators moving in cluttered environments is presented. The approach is based on a discontinous feedback law under the infuence of a special potential eld. Convergence is shown via Lyapunov's direct method. Utilizing redundancy, the methodology allows the system to perform secondary, connguration dependent, objectives such as singularity avoidance. ...

Guidelines in Nonholonomic Motion Planning

Nonholonomic motion planning for multiple mobile manipulators

We address the problem of motion planning for nonholonomic cooperating mobile robots manipulating and transporting objects while holding them in a stable grasp. We present a general approach based on the calculus of variations that allows us to obtain optimal trajectories and actuator forces/torques for any maneuver in the presence of obstacles. In addition, geometric constraints such as joint ...