https://murray.cds.caltech.edu/index.php?title=A_Motion_Planner_for_Nonholonomic_Robots&feed=atom&action=historyA Motion Planner for Nonholonomic Robots - Revision history2021-05-13T22:48:09ZRevision history for this page on the wikiMediaWiki 1.35.0https://murray.cds.caltech.edu/index.php?title=A_Motion_Planner_for_Nonholonomic_Robots&diff=20050&oldid=prevMurray: htdb2wiki: creating page for 1994p_ljtm94-tra.html2016-05-15T06:20:41Z<p>htdb2wiki: creating page for 1994p_ljtm94-tra.html</p>
<p><b>New page</b></p><div>{{HTDB paper<br />
| authors = J-P. Laumond, P. E. Jacobs, M. Taix and R. M. Murray<br />
| title = A Motion Planner for Nonholonomic Robots<br />
| source = <i>IEEE T. Robotics and Automation</i>, 10: (5) 577-593<br />
| year = 1994<br />
| type = Downloading and printing FAQ<br />
| funding = <br />
| url = help.html<br />
| abstract = This paper considers the problem of motion planning for a car-like robot (i.e., a<br />
mobile robot with a nonholonomic constraint whose turning radius is lower-bounded). We<br />
present a fast and exact planner for our mobile robot model, based upon recursive<br />
subdivision of a collision-free path generated by a lower-level geometric planner that<br />
ignores the motion constraints. The resultant trajectory is optimized to give a path that<br />
is of near-minimal length in its homotopy class. Our claims of high speed are supported by<br />
experimental results for implementations that assume a robot moving amid polygonal<br />
obstacles. The completeness and the complexity of the algorithm are proven using an<br />
appropriate metric in the configuration space R2 x S1 of the robot. This metric is defined<br />
by using the length of the shortest paths in the absence of obstacles as the distance<br />
between two configurations. We prove that the new induced topology and the classical one<br />
are the same. Although we concentration upon the car-like robot, the generalization of<br />
these techniques leads to new theoretical issues involving sub-Riemannian geometry and to<br />
practical results for nonholonomic motion planning. <br />
| flags = <br />
| tag = ljtm94-tra<br />
| id = 1994p<br />
}}</div>Murray