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.


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    Titel :

    A method of progressive constraints for nonholonomic motion planning


    Beteiligte:
    Ferbach, P. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    1998


    Format / Umfang :

    8 Seiten, 23 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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