This paper describes an educational remote experiment for path planning with mobile robot hardware which is accessible via the internet. The experiment uses a nonholonomic car-like mobile robot with an Ackermansteering and demonstrates the problems of the inverse kinematics of this kind of mobile robot. It emphasizes the educational aspects, shows how to combine primitive manoeuvres in order to...

Motion planning for many degrees of freedom-random reeections at c-space obstacles. In Proc.bilistic roadmaps for path planning in high dimensional conngura-tion spaces. LS89] J.-P. Laumond and T. Sim eon. Motion planning for a two degrees of freedom mobile robot with towing. A motion planner for car-like robots based on a global/local approach. 37 learning method remains a topic of further res...

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.

A new type of spherical robot, called KisBot, is presented that includes arms and two types of driving mode: rolling and wheeling. In the rolling mode, the robot uses its arms as pendulums and works like a pendulum-driven robot, while in the wheeling mode, it extends its arms to the ground and works like a one-wheel car. The basic design idea of KisBot is introduced and a prototype is implement...

Intelligent autonomous navigation in a large-scale and unknown indoor environment is an important problem in mobile robotics. For a car-like mobile robot with a racing car platform, the movement control concept is similar to that of a car. The autonomous features enable robots to control own motion without human interference. Three autonomous features are addressed in this thesis; obstacle avoi...

The subject of motion planning for non-holonomic wheeled mobile robots moving on the plane and in particular the use of fuzzy and evolutionary strategies for achieving such motion tasks has been dealt with in this paper. The specific robotic system considered is a vehicle whose kinematics approximates that of a car. The configuration of this robot is represented by position and orientation of i...

This paper addresses the problem of on-line path following for a car working in unstructured outdoor environments. The partially known map of the environment is updated and expanded in real time by a Simultaneous Localization and Mapping (SLAM) algorithm. This information is used to implement global path planning. A cost graph is initially constructed followed by a search to find the near-optim...

Motion planning is one of the most challenging tasks in robotics. Dedicated algorithms are used in many different applications starting from CNC machines to human-like robots. An interesting research area within this field is motion planning for car-like robots. In the last few years, car-like robots became increasingly important, because precise positioning systems like GPS or GLONASS and mode...