Motion Planning for Nonholonomic Vehicles: An Introduction

Abstract : The last few years have seen a burst of activity in motion planning for vehicles with rolling constraints such as cars and trucks with trailers. Our understanding of such nonholonomic constraints has increased significantly and it is now possible to quickly plan complex parking and trailer-backing manoeuvres for these practically important systems. However the techniques used are highly mathematical and have not been easily accessible to a broad robotics-oriented audience. This paper presents an intuitive, geometrical introduction to the main mathematical definitions and theorems and summarizes some of the key practical approaches to nonholonomic vehicle planning.
Type de document :
Autre publication
Survey paper presented at Seminar on Computer Vision and Robotics, Newton Institute of Mathematic.. 1993
Liste complète des métadonnées

Littérature citée [38 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00548415
Contributeur : Thoth Team <>
Soumis le : lundi 20 décembre 2010 - 08:44:35
Dernière modification le : vendredi 7 janvier 2011 - 14:59:29
Document(s) archivé(s) le : lundi 21 mars 2011 - 03:02:54

Fichiers

Triggs-nonhol93.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00548415, version 1

Citation

Bill Triggs. Motion Planning for Nonholonomic Vehicles: An Introduction. Survey paper presented at Seminar on Computer Vision and Robotics, Newton Institute of Mathematic.. 1993. 〈inria-00548415〉

Partager

Métriques

Consultations de la notice

146

Téléchargements de fichiers

786