Path Planning with Uncertainty for Car-Like Robots

| this paper presents the rst path planner taking into account both non-holonomic and uncertainty constraints. The case of a car-like robot subject to cumulative and unbounded connguration uncertainty related to bounded control and sensing errors is considered. Assuming the existence of landmarks allowing the robot to relocalize itself in particular places, we present an algorithm that computes paths that are both feasible and robust. In other words, they respect the non-holonomic constraints of a car-like robot and the robot is assured to reach its goal by following them as long as its control and sensing errors remain within bounded sets.Inrets c Praxit ele programme on individual urban public transports 1994-1997], and the Inco-Copernicus ERB-IC15-CT96-0702 project \Multi-agent robot systems for industrial applications in the transport domain" 1997-1999]. Abstract | this paper presents the rst path planner taking into account both non-holonomic and uncertainty constraints. The case of a car-like robot subject to cumulative and unbounded connguration uncertainty related to bounded control and sensing errors is considered. Assuming the existence of landmarks allowing the robot to relo-calize itself in particular places, we present an algorithm that computes paths that are both feasible and robust. In other words, they respect the non-holonomic constraints of a car-like robot and the robot is assured to reach its goal by following them as long as its control and sensing errors remain within bounded sets.