ICCSA'03 Proceedings of the 2003 international conference on Computational science and its applications: PartI
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In this work, we propose a new approach for motion planning for nonholonomic car-like robots which is based on a Customizable PRM (C-PRM). A major advantage of our approach is that it enables the same roadmap to be efficiently utilized for car-like robots with different turning radii, which need not be specified before query time. In addition, the computation costs, even for a single car-like robot, are generally significantly less than previous techniques. Our C-PRM based approach first builds a so-called control roadmap which does not incorporate any nonholonomic constraints. The control roadmap is then used to efficiently generate `good'' configurations of the car, e.g., aligned with the roadway. The control roadmap is also used to guide the roadmap connection, and to smooth (optimize the curvature of) the selected roadmap path. The paths encoded in the roadmap consist of straight-line segments and arcs. The control roadmap assists smoothing of the these paths using cubic B-splines to minimize the number of complete stops when following a path. Results with a simple nonholonomic car-like robot are very promising.