Two-dimensional motion-planning for nonholonomic robots using the bump-surfaces concept

Authors:
E. K. Xidias;P. N. Azariadis;N. A. Aspragathos
Affiliations:
University of Patras, Department of Mechanical and Aeronautics Engineering, 26500, Patras, Greece;University of the Aegean, Department of Product and Systems Design Engineering, 84100, Ermoupolis, Syros, Greece;University of Patras, Department of Mechanical and Aeronautics Engineering, 26500, Patras, Greece
Venue:
Computing - Special issue on Geometric Modeling (Dagstuhl 2005)
Year:
2007

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Abstract

In this paper, a new method is introduced for finding a near-optimal path of a nonholonomic robot moving in a 2D environment cluttered with static obstacles. The method is based on the Bump-Surfaces concept and is able to deal with robots represented by a translating and rotating rigid body. The proposed approach is applied to car-like robots.