DocumentCode
1652832
Title
Virtual Obstacle Based Approach to Path Planning of Mobile Robot with Nonholonomic Constraints
Author
Zhaoming, Lei ; Hexu, Sun ; Zuojun, Liu ; Tao, Lin ; Peng, Yang
Author_Institution
Hebei Univ. of Technol., Tianjin
fYear
2007
Firstpage
207
Lastpage
211
Abstract
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.
Keywords
collision avoidance; mobile robots; motion control; robot kinematics; mobile robot; motion direction; nonholonomic constraints; path planning; robot posture; virtual obstacle; Gold; Kinematics; Mobile robots; Path planning; Robotics and automation; Sun; Vehicles; Mobile Robot; Nonholonomic Constraints; Path Planning; Virtual Obstacle;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference, 2007. CCC 2007. Chinese
Conference_Location
Hunan
Print_ISBN
978-7-81124-055-9
Electronic_ISBN
978-7-900719-22-5
Type
conf
DOI
10.1109/CHICC.2006.4347401
Filename
4347401
Link To Document