On Nonholonomic Mobile Robots and Optimal Maneuvering

TitleOn Nonholonomic Mobile Robots and Optimal Maneuvering
Publication TypeTechnical Report
AuthorsBarraquand, J., and J. - C. Latombe
Date Published07/1989

We consider the robot path planning problem tn the presence of non-integrable kinematic constraints, known as nonholonomic constraints. Such constraints are generally caused by one or several rolling contacts between rigid bodies and express that the relative velocity of two points in contact is zero. They make the dimension of the space of achievable velocities smaller than the dimension of the robot's configuration space. Using standard results in differential geometry (Frobenius Integrability Theorem) and nonlinear control theory, we first give a formal characterization of holonomy (and nonholonomy) for robot systems subject to linear differential constraints and we state some related results about their controllability. Then, we apply these results to "car-like" robots and "trailer-like" robots. Finally, we present an implemented planner, which generates collision-free paths with minimal number of maneuvers for car-like and trailer-like robots among obstacles. Potential applications of the planner include navigation of autonomous robots, automated parking of personal cars and trucks, autonomous navigation of luggage carriers in airport facilities, automatic planning of the movements of machines in a construction site, and computer-aided design of access ports for trucks in industrial and commercial facilities.

KeywordsOptimal Maneuvering, Planning, Robot Path Planning
Year of Publication1989
TR015.pdf1.85 MB

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