Hybrid curvature steer: A novel extend function for sampling-based nonholonomic motion planning in tight environments

2017 ◽  
Author(s):  
Holger Banzhaf ◽  
Luigi Palmieri ◽  
Dennis Nienhuser ◽  
Thomas Schamm ◽  
Steffen Knoop ◽  
...  
Keyword(s):  
Motion Planning ◽  
Nonholonomic Motion Planning

Motion Planning of a Nonholonomic Multibody System Using Genetic Algorithm

2003 ◽  
Author(s):  
Xin-Sheng Ge ◽  
Li-Qun Chen
Keyword(s):  
Genetic Algorithm ◽  
Motion Planning ◽  
Nonholonomic System ◽  
Multibody System ◽  
Planning Problem ◽  
Control Approach ◽  
Velocity Constraints ◽  
Nonholonomic Motion Planning ◽  
Optimal Control Approach ◽  
Motion Planning Problem

The motion planning problem of a nonholonomic multibody system is investigated. Nonholonomicity arises in many mechanical systems subject to nonintegrable velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the control problem of system can be converted to the motion planning problem for a driftless control system. In this paper, we propose an optimal control approach for nonholonomic motion planning. The genetic algorithm is used to optimize the performance of motion planning to connect the initial and final configurations and to generate a feasible trajectory for a nonholonomic system. The feasible trajectory and its control inputs are searched through a genetic algorithm. The effectiveness of the genetic algorithm is demonstrated by numerical simulation.

scholarly journals Nonholonomic Motion Planning for Coupled Planar Rigid Bodies with Passive Revolute Joints.

2000 ◽  
Vol 66 (642) ◽  
pp. 553-560 ◽  
Author(s):  
Naoji SHIROMA ◽  
Hirohiko ARAI ◽  
Kazuo TANIE
Keyword(s):  
Motion Planning ◽  
Rigid Bodies ◽  
Revolute Joints ◽  
Nonholonomic Motion Planning

Singularities and Topological Aspects in Nonholonomic Motion Planning

1993 ◽  
pp. 149-199 ◽  
Author(s):  
Jean-Paul Laumond
Keyword(s):  
Motion Planning ◽  
Nonholonomic Motion Planning

Optimal control of nonholonomic motion planning for a free-falling cat

2007 ◽  
Vol 28 (5) ◽  
pp. 601-607 ◽  
Author(s):  
Xin-sheng Ge ◽  
Li-qun Chen
Keyword(s):  
Optimal Control ◽  
Motion Planning ◽  
Free Falling ◽  
Nonholonomic Motion Planning

Guidelines in nonholonomic motion planning for mobile robots

2006 ◽  
pp. 1-53 ◽  
Author(s):  
J. P. Laumond ◽  
S. Sekhavat ◽  
F. Lamiraux
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Nonholonomic Motion Planning
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