Motion Planning for Drift-Free Nonholonomic Systems under a Discrete Levels Control Constraint

  • Authors:

  • Photis G. Skiadas;Nick T. Koussoulas

  • Affiliations:

  • Laboratory for Automation and Robotics, Electrical and Computer Engineering Department, University of Patras, Rio Patras 265 00, Greece/ e-mail: skiadas@ee.upatras.gr;Laboratory for Automation and Robotics, Electrical and Computer Engineering Department, University of Patras, Rio Patras 265 00, Greece/ e-mail: ntk@ee.upatras.gr

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 2001

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Abstract

We solve the Motion Planning Problem for nonholonomic systems without drift when their inputs are restricted to take values in a prescribed discrete levels set of finite cardinality. In particular, we propose algorithms that produce the proper sequence of input levels as well as the corresponding switching times providing exact steering when the system is nilpotent or feedback nilpotentizable. For a general drift-free system, i.e. for a drift-free system that is neither nilpotent nor feedback nilpotentizable another algorithm provides approximate steering within a permissible error. Finally, we apply the proposed algorithms in motion planning for a car-like mobile robot.