Dynamic path modification for car-like nonholonomic mobile robots

A method combining planning and reactive control for car-like nonholonomic mobile robots is discussed. Firstly, a “bubble” for a car-like mobile robot is defined as the locally reachable space from a given configuration considering the obstacles and using the appropriate metric. Then a flexible feasible trajectory, based on the elastic band concepts, is constructed. This trajectory is smoothed using Bezier curves satisfying a minimum curvature constraint, and a parameterization is proposed which satisfies the robot kinematics constraints