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Path optimization for nonholonomic systems: Application to reactive obstacle avoidance and path planning. (English) Zbl 1054.93041

Bicchi, Antonio (ed.) et al., Control problems in robotics. Selected papers of the second international workshop on control problems in robotics and automation, Las Vegas, Nevada (USA), December 14, 2002. Berlin: Springer (ISBN 3-540-00251-0/hbk). Springer Tracts Adv. Robot. 4, 1-18 (2003).
For solving path optimization problems for nonholonomic systems, modifications of a discretized starting path are computed iteratively in order to avoid the obstacles and to keep the nonholonomic constraints satisfied. Applications of this method to complex kinematic systems and to mobile robotics are given.
For the entire collection see [Zbl 1030.00055].

MSC:

93C85 Automated systems (robots, etc.) in control theory
68T40 Artificial intelligence for robotics
70F25 Nonholonomic systems related to the dynamics of a system of particles

Software:

RobOptim
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