From a kinematic point of view, the main characteristic of wheeled robots is the
nonholonomic rolling without slipping constraint of the wheels on the floor, which forces the …

We consider the robot path planning problem in the presence of non-integrable kinematic
constraints, known as nonholonomic constraints [Greenwood, 1965]. Such constraints are …

This paper presents a method of path optimization for nonholonomic systems. This method
consists in iteratively modifying a given feasible path in order to make a cost related to the …

We outline three approaches for nonholonomic path finding—nilpotent approximation,
highly oscillatory inputs and path deformation—that are based on the use of the techniques …

Robot motion planning with nonholonomic constraints | The fifth international symposium on
Robotics research skip to main content ACM Digital Library home ACM home Google, Inc. (search) …

Nonholonomic motion planning is best understood with some knowledge of the underlying
geometry. In this chapter, we first introduce in Section 1 the basic notions of the geometry …

The complexity of motion planning amidst obstacles is a well modelled and understood
notion. What is the increase of the complexity when the problem is to plan the trajectories of …

This paper addresses two aspects of the navigation problem for a two dof mobile robot (non
holomic system): trajectory planning and motion control. Trajectory planning concerns the …

Minimal distance paths between prescribed initial and final configurations of a wheeled
mobile robot are calculated, both analytically and numerically, using methods of optimal …

This paper describes a technique for path planning in environments cluttered with obstacles
for mobile robots with nonholonomic kinematics and bounded trajectory curvature (ie, limited …