DocumentCode
3271400
Title
Nonholonomic Path Planning Based on Virtual Obstacle in Circuit Map
Author
Liu, Hongxun ; Sun, Ying ; Liu, Zuojun ; Yang, Qingxin ; Lin, Tao
Author_Institution
Hebei Univ. of Technol., Tianjin
fYear
2007
fDate
20-24 March 2007
Firstpage
809
Lastpage
813
Abstract
The nonholonomic constraint in path planning of wheeled mobile robot is described by setting virtual obstacles in circuit map. Virtual obstacles arc 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 and vehicle are solved.
Keywords
collision avoidance; mobile robots; motion control; circuit map; nonholonomic path planning; parking posture; virtual obstacle; wheeled mobile robot; Circuits; Computer science; Mobile robots; Orbital robotics; Path planning; Robot kinematics; Robotics and automation; Sun; Vehicles; Wheels; circuit map; nonholonomic; path planning; virtual obstacle; wheeled mobile robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Integration Technology, 2007. ICIT '07. IEEE International Conference on
Conference_Location
Shenzhen
Print_ISBN
1-4244-1092-4
Electronic_ISBN
1-4244-1092-4
Type
conf
DOI
10.1109/ICITECHNOLOGY.2007.4290434
Filename
4290434
Link To Document