Two-dimensional motion-planning for nonholonomic robots using the bump-surfaces concept |
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| Authors: | E K Xidias P N Azariadis N A Aspragathos |
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| Affiliation: | (1) Department of Mechanical and Aeronautics Engineering, University of Patras, Patras, 26500, Greece;(2) Department of Product and Systems Design Engineering, University of the Aegean, Ermoupolis, Syros, 84100, Greece |
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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. |
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| Keywords: | 65D17 68020 93C10 70B10 70E17 |
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