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

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5 Author(s)
Lei Zhaoming ; Hebei Univ. of Technol., Tianjin ; Sun Hexu ; Liu Zuojun ; Lin Tao
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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.

Published in:

Control Conference, 2007. CCC 2007. Chinese

Date of Conference:

July 26 2007-June 31 2007