Reactive Navigation for Non-Holonomic Robots using the Ego-Kinematic Space

@inproceedings{Minguez2002ReactiveNF,
  title={Reactive Navigation for Non-Holonomic Robots using the Ego-Kinematic Space},
  author={Javier Minguez and Luis Montano and Jos{\'e} Santos-Victor},
  booktitle={ICRA},
  year={2002}
}
We address the problem of applying reactive navigation methods to non-holonomic robots. Rather than embedding the motion constraints when designing a navigation method, we propose to introduce the robot’s kinematic constraints directly in the spatial representation. In this space the Ego-Kinematic Space the robot moves as a “free-flying object”. Hence, standard reactive navigation methods applied to this space will automatically take into account the robot’s kinematic constraints, without… CONTINUE READING
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