This technical brief presents a refined slabbing method, originally used for free-flying robots, for finding efficient paths for nonholonomic robots. Our method takes kinematic constraints and reversal maneuvers into account. We create orientation levels for each orientation configuration of the robot. The slopes of slabbing lines in each orientation level match the orientation of a robot in that level. The resulting slabbing lines act as “rails” to guide the robot. Thus, a robot, if it keeps moving in a given orientation level, can only translate straight forward or straight backward along a given slabbing line. Limiting robot movement to straight forward or straight backward along a slabbing line prevents the robot from violating kinematic constraints, by moving sideways to another slabbing line. [S1050-0472(00)01403-3]
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September 2000
Technical Briefs
A Geometric Path Planner for Car-like Robots
Shiang-Fong Chen, Assistant Professor,
Shiang-Fong Chen, Assistant Professor
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Jiansong Deng, Research Associate
Jiansong Deng, Research Associate
Department of Mechanical and Aerospace Engineering, Tri-State University, 1 University Avenue, Angola, IN 46703
11
Search for other works by this author on:
Jiansong Deng, Research Associate
11
Department of Mechanical and Aerospace Engineering, Tri-State University, 1 University Avenue, Angola, IN 46703
Contributed by the Mechanisms Committee for publication in the JOURNAL OF MECHANICAL DESIGN Manuscript received May 1999. Associate Technical Editor: C. Innocenti.
J. Mech. Des. Sep 2000, 122(3): 343-346 (4 pages)
Published Online: May 1, 1999
Article history
Received:
May 1, 1999
Citation
Chen , S., and Deng, J. (May 1, 1999). "A Geometric Path Planner for Car-like Robots." ASME. J. Mech. Des. September 2000; 122(3): 343–346. https://doi.org/10.1115/1.1288403
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