Scheduled System Maintenance on December 17th, 2014:
IEEE Xplore will be upgraded between 2:00 and 5:00 PM EST (18:00 - 21:00) UTC. During this time there may be intermittent impact on performance. We apologize for any inconvenience.
By Topic

Nonholonomic multibody mobile robots: controllability and motion planning in the presence of obstacles

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Barraquand, J. ; Dept. of Comput. Sci., Stanford Univ., CA, USA ; Latombe, J.-C.

It is shown that the well-known controllability rank condition theorem is applicable to nonholonomic multibody robots, even when there are inequality constraints on the velocity. This makes it possible to subsume and generalize several controllability results published in the robotics literature concerning nonholonomic mobile robots, and to infer new results. Also described is an implemented planner based on these results. Experimental results obtained with this planar are given

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991