Abstract:
Presents a general method for nonholonomic motion planning (NMP), that is able to solve problems for systems with high-dimensional configuration spaces. The original NMP ...Show MoreMetadata
Abstract:
Presents a general method for nonholonomic motion planning (NMP), that is able to solve problems for systems with high-dimensional configuration spaces. The original NMP problem is replaced by a series of progressively constrained ones that are solved successively, and whose solution path converges towards a solution of the original problem. The nonholonomic constraints are introduced progressively in an iterative algorithm. Each iteration consists of exploring a neighborhood of the path obtained from the previous iteration, searching for a path that satisfies more accurate constraints. The explorations proceed according to a dynamic programming procedure able to deal with optimization criteria.
Date of Conference: 22-28 April 1996
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-7803-2988-0
Print ISSN: 1050-4729
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