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Flatness and small-time controllability of multibody mobile robots: application to motion planning

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2 Author(s)
Lamiraux, F. ; Lab. d''Autom. et d''Anal. des Syst., CNRS, Toulouse, France ; Laumond, J.-P.

Most nonholonomic path planning algorithms in the presence of obstacles use a local planner, that is, a method returning feasible paths between pairs of configurations without taking obstacles into account. To ensure convergence of the global method, however, the local planner has to account for small-time controllability: the length of the path joining two configurations has to tend toward zero with the distance between these configurations. We present such a local method for a robot towing n trailers, based on differential flatness and significantly more efficienct than former methods.

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Automatic Control, IEEE Transactions on  (Volume:45 ,  Issue: 10 )