Reactive Trajectory Deformation for Nonholonomic Systems: Application to Mobile Robots
نویسندگان
چکیده
In this paper, we propose a novel approach to reactive obstacle avoidance for nonholonomic systems. The method is based on the deformation of an initial trajectory computed by a motion planner. The deformation we perform keeps the nonholonomic constraints of the system satisfied. The deformation algorithm is based on a potential field generated by obstacles. We applied this approach to the mobile robot Hilare 2 towing a trailer and we carried out some experiments.
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