Randomized motion planning for car-like robots with C-PRM

  title={Randomized motion planning for car-like robots with C-PRM},
  author={Guang Song and Nancy M. Amato},
In this work, we propose a new approach for motion planning for nonholonomic car-like robots which is based on a Customizable PRM (C-PRM). A major advantage of our approach is that it enables thesameroadmap to be efficiently utilized for car-like robots with different turning radii, which need not be known before query time. OurC-PRM-based approach first builds a so-called control roadmap which does not incorporate any nonholonomic constraints. The control roadmap is used to efficiently… CONTINUE READING
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