Shortest paths in the plane with convex polygonal obstacles
Information Processing Letters
Nonholonomic Motion Planning
Robust Path Planning for Non-Holonomic Robots
Journal of Intelligent and Robotic Systems
Motion planning for a mobile robot with a kinematic constraint
Proceedings of the Workshop on Geometry and Robotics
Feasible Trajectories for Mobile Robots with Kinematic and Environment Constraints
Intelligent Autonomous Systems, An International Conference
Optimal Trajectory Planning for Wheeled Mobile Robots Based on Kinematics Singularity
Journal of Intelligent and Robotic Systems
Safe obstacle avoidance for industrial robot working without fences
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Obstacle detection and avoidance system for visually impaired people
HAID'07 Proceedings of the 2nd international conference on Haptic and audio interaction design
Wearable multimodal interface for helping visually handicapped persons
ICAT'06 Proceedings of the 16th international conference on Advances in Artificial Reality and Tele-Existence
A family of skeletons for motion planning and geometric reasoning applications
Artificial Intelligence for Engineering Design, Analysis and Manufacturing - Representing and Reasoning About Three-Dimensional Space
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A path planning algorithm for a mobile robot subject to nonholonomic constraints is presented. The algorithmemploys a global-local strategy, and solves the problem in the 2D workspace of the robot, without generating the complexconfiguration space. Firstly, a visibility graph is constructed for finding a collision-free shortest path for a point. Secondly,the path for a point is evaluated to find whether it can be used as a reference to build up a feasible path for the mobile robot.If not, this path is discarded and the next shortest path is selected and evaluated until a right reference path is found. Thirdly,robot configurations are placed along the selected path in the way that the robot can move from one configuration to the nextavoiding obstacles. Lemmas are introduced to ensure that the robot travels using direct, indirect or reversal manoeuvres. Thealgorithm is computationally efficient and runs in time O(nk + n log n) for k obstacles andn vertices. The path found is near optimal in terms of distance travelled. The algorithm is tested in computersimulations and test results are presented to demonstrate its versatility in complex environments.