Taking into account velocity and acceleration bounds in nonholonomic trajectory deformation

Abstract

This paper deals with the problem of autonomous navigation for nonholonomic mobile robots. To avoid obstacles while executing a planned motion, we use a nonholonomic trajectory deformation method. Initially, this method did not take into account the velocity and acceleration bounds of the robot. The contribution of this paper is a significant improvement of… (More)
DOI: 10.1109/ROBOT.2007.363940

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Cite this paper

@article{Hillion2007TakingIA, title={Taking into account velocity and acceleration bounds in nonholonomic trajectory deformation}, author={Mathieu Hillion and Florent Lamiraux}, journal={Proceedings 2007 IEEE International Conference on Robotics and Automation}, year={2007}, pages={3080-3085} }