Referenced Items are not available for this document.
A method combining planning and reactive control for car-like nonholonomic mobile robots is discussed. Firstly, a “bubble” for a car-like mobile robot is defined as the locally reachable space from a given configuration considering the obstacles and using the appropriate metric. Then a flexible feasible trajectory, based on the elastic band concepts, is constructed. This trajectory is smoothed using Bezier curves satisfying a minimum curvature constraint, and a parameterization is proposed which satisfies the robot kinematics constraints
Published in:
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
(Volume:4
)
Date of Conference: 20-25 Apr 1997
- Page(s):
- 2920 - 2925 vol.4
- Meeting Date :
- 20 Apr 1997-25 Apr 1997
- Print ISBN:
- 0-7803-3612-7
- INSPEC Accession Number:
- 5691293
- Conference Location :
- Albuquerque, NM
- Digital Object Identifier :
- 10.1109/ROBOT.1997.606730
- Product Type:
- Conference Publications
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
