A manipulation device can be installed on a mobile robot. In this case, the robot should be able to approach the objects to be manipulated from a given direction, suitable for this purpose. If the kinematic structure of the robot is not holonomic, this problem can be very hard to solve. In this paper, it is described a navigation algorithm capable of driving a car-like robot (i.e. characterized by slow steering motion with a minimum radius of curvature) to a given point with a given orientation, whatever its initial position and orientation.


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    Titel :

    Elliptical trajectories for non-holonomic vehicles


    Beteiligte:
    Bampi, F. (Autor:in) / Scalzo, A. (Autor:in) / Zaccaria, R. (Autor:in) / Zordan, C. (Autor:in)


    Erscheinungsdatum :

    01.06.2007


    Format / Umfang :

    512319 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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