Virtual Obstacle Based Approach to Path Planning of Mobile Robot with Nonholonomic Constraints

The nonholonomic constraint in path planning is described by setting virtual obstacles. Virtual obstacles are supposed to limit the motion direction and posture in the directions that the robots or vehicles cannot move under nonholonomic constraints. The results of path planning based on virtual obstacle are kinematics traceable. And the parking posture and parallel parking in path planning of mobile robot are solved.