Planning nonholonomic motions for manipulated objects

Considers the motions of objects moved by manipulators that can only perform some specific actions. These motions are fundamentally nonholonomic. They consist of a sequence of maneuvers, each one being a permitted action of a manipulator. We present a general method for planning such motions while minimizing the number of maneuvers. The object´s state space is searched by performing step motions corresponding to the permitted manipulator actions. We distinguish between low-dimensional cases in which the system´s state space is explored extensively, and high-dimensional cases. In the latter we introduce the motion constraints progressively. Successive explorations are performed in a neighborhood of a current path that converges toward a solution