Reactive trajectory deformation for nonholonomic systems: application to mobile robots

In this paper, we propose a novel approach to reactive obstacle avoidance for nonholonomic systems. The method is based on the deformation of an initial trajectory computed by a motion planner. The deformation we perform keeps the nonholonomic constraints of the system satisfied. The deformation algorithm is based on a potential field generated by obstacles. We applied this approach to the mobile robot Hilare 2 towing a trailer and we carried out some experiments