Nonholonomic Motion Planning Using the Fast Marching Square Method (original) (raw)

Flexible Path Planning for Nonholonomic Mobile Robots

This work presents a flexible path planning method for nonholonomic mobile robots. An intelligent planner based on a static map of the robot's environment has been developed. It comprises the possibility to set current robot properties on the fly and can therefore be used for many different mobile robots. The generated path is smoothened and eventually modified in reaction to dynamic obstacles or other external forces, using the method of elastic bands. This common algorithm has been extended for robots meeting the restrictions of a Dubin's car (nonholonomic robot that can only move forward).

Motion Planning Using Fast Marching Squared Method

Mechanisms and Machine Science, 2015

Robotic motion planning have been, and still is, a very intense research field. Many problems have been already solved and even real-time, optimal motion planning algorithms have been proposed and successfully tested in real-world scenarios. However, other problems are not satisfactory solved yet and also new motion planning subproblems are appearing. In this chapter we detail our proposed solution for two of these problems with the same underlying method: non-holonomic planning and outdoor motion planning. The first is characterized by the fact that many vehicles cannot move in any direction at any time (car-like robots). Therefore, kinematic constrains need to be taken into account when planning a new path. Outoor motion planning focuses on the problem that has to be faced when a robot is going to work in scenarios with non-flat ground, with different floor types (grass, sand, etc). In this case the path computed should take into account the capabilities of the robot to properly model the environment. In order to solve these problems we are using the Fast Marching Square method, which has proved to be robust and efficient in the recent past when applied to other robot motion planning subproblems.

Motion planning using Fast Marching Square method

Robotic motion planning have been, and still is, a very intense research field. Many problems have been already solved and even real-time, optimal motion planning algorithms have been proposed and successfully tested in real-world scenarios. However, other problems are not satisfactory solved yet and also new motion planning subproblems are appearing. In this chapter we detail our proposed solution for two of these problems with the same underlying method: non-holonomic planning and outdoor motion planning. The first is characterized by the fact that many vehicles cannot move in any direction at any time (car-like robots). Therefore, kinematic constrains need to be taken into account when planning a new path. Outoor motion planning focuses on the problem that has to be faced when a robot is going to work in scenarios with non-flat ground, with different floor types (grass, sand, etc.). In this case the path computed should take into account the capabilities of the robot to properly ...

Two-dimensional motion-planning for nonholonomic robots using the bump-surfaces concept

Computing, 2007

In this paper, a new method is introduced for finding a near-optimal path of a nonholonomic robot moving in a 2D environment cluttered with static obstacles. The method is based on the Bump-Surfaces concept and is able to deal with robots represented by a translating and rotating rigid body. The proposed approach is applied to car-like robots.

On motion planning of nonholonomic mobile robots

2000

ABSTRACT Mobile robots that consist of a mobile platform with one or many manipulators, are of great interest in a number of applications. This paper presents a methodology for generating paths and trajectories for both the mobile platform and the manipulator that will take a system from an initial configuration to a pre-specified final one, without violating the nonholonomic constraint. The generated paths are of polynomial nature and therefore are continuous and smooth.

Dynamic path modification for car-like nonholonomic mobile robots

Proceedings of International Conference on Robotics and Automation, 1997

In this paper, a method combining planning and reactive control for car-like nonholonomic mobile robots is discussed. Firstly, a "bubble" for a car-like mobile robot is defined as the locally reachable space from a given configuration considering the obstacles and using the appropriate metric. Then a flexible feasible trajectory, based on the elastic band concepts, is constructed. This trajectory is smoothed using Bezier curves satisfying a minimum curvature constraint, and a parameterization is proposed which satisfies the robot kinematics constraints.

A Forward March Path-Planning Algorithm for Nonholonomic Mobile Robot

IFAC Proceedings Volumes, 1996

Due to the kinematic constraints, mobile robots cannot follow an arbitrary path. This paper describes a simple path-planning algorithm wich uses a forward march like nonholonomic constraint. This method consists in creating for convex mobile robots, a set of trajectories with the concept of "start window" and "image window". By definition, a window is the frontier between two contiguous cells in a configuration space represented with parallelepipeds. This algorithm perfectly adjusts to the problem of an electric wheelchair for disabled person ('I ARM project).

Robot motion planning: the case of nonholonomic mobiles in a dynamic world

IEEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications, 1990

This paper deals with the problem of planning and controlling the motion of non holonomic veliicles in a dynamic world. The work prrscnkd here is part of a more important system which w a s described in a previous communication . The contribution of this paper is tworold: (1) we present a Lrajeclory planner whose purpose is to determine a smooth trajectory C wllicli is maneuver rree and collision free wi(h respect to the static obstacles of the world. C is made up of straight segments and of circular arcs connected so that C is of class CL and the circular transitions are determined by building and searching a particular domain called the "space of curvature centers".