In this paper, we address the problem of automatically generating motions for nonholonomic systems consisting of tractors with trailers. The presented method generalizes an existing dynamic programming exploration technique using a progressive constraints approach. It has performed well in experiments with multibody vehicles moving with few reversals in cluttered environments.
A method of progressive constraints for nonholonomic motion planning
IEEE Transactions on Robotics and Automation ; 14 , 1 ; 172-179
1998
8 Seiten, 23 Quellen
Aufsatz (Zeitschrift)
Englisch
Reactions at Nonholonomic Constraints
British Library Conference Proceedings | 1993
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