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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    Title :

    A method of progressive constraints for nonholonomic motion planning


    Contributors:
    Ferbach, P. (author)

    Published in:

    Publication date :

    1998


    Size :

    8 Seiten, 23 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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