Nonholonomic Path Planning for a Point Robot with Car-Like Kinematics

Path Planning and Robust Tracking for A Car-Like Robot

In this paper the problem of path planning and path following for a car-like robot is considered. Some new algorithms are proposed, which, by experiments, have been proven to be quite robust.

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...

A hybrid controller for a nonholonomic car-like robot

This paper presents the usage of hybrid systems to develop an adaptive recent horizon controller for a nonholonomic car-like robot. The system is modeled by a non-deterministic hybrid system in which transitions represent the discrete control actions, mode invariants the constraints and the transition relation encodes sequencing requirements. The control algorithm examines at runtime the possib...

Feedback Control of a Nonholonomic Car-like Robot

Planning Safe Paths for Nonholonomic Car - Like RobotsNavigating Through Computed

This paper addresses path planning with uncertainty for a car-like robot subject to connguration uncertainty. The robot estimates its connguration with odometry and an absolute localization device based on environmental feature matching. The issue is to compute safe paths that guarantee that the goal will be reached in spite of the uncertainty. The solution proposed relies upon the automatic co...