Robust Path Planning for Non-Holonomic Robots

Authors:
Alain Pruski;Serge Rohmer
Affiliations:
LAEI, University of Metz, 57045 Metz Cedex 1, France. e-mail: pruski@ laei.univ-metz.fr;UTT, BP 2060, 10010 Troye, France
Venue:
Journal of Intelligent and Robotic Systems
Year:
1997

Citing 4
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Abstract

This paper deals with mobile robots path planning. We decompose the problem in three parts. In the first part, we describe a modeling method based on a configuration space discretization. Each model element is built following a particular structure which is easy to handle, as we will show. We describe the methodologies and the algorithms allowing to build the model. In the second part, we propose a path-planning application for a non-holonomic robot in configuration space. In the third part, we modify the path in order to be robust according to the control errors.