Towards Provable Navigation and Control of Nonholonomically Constrained Convex-Bodied Systems
نویسندگان
چکیده
In this paper, we develop a generic class of control policies that respect nonholonomic constraints and are provably safe with respect to obstacles for a convex-bodied mobile robot. We instantiate this class of policies over local regions of configuration space, and compose the resulting local policies to address the global navigation and control problem for a wheeled mobile robot navigating amongst obstacles. Simulation and experimental results are given.
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تاریخ انتشار 2006