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A Motion Planner for Nonholonomic Robots 
Abstract 
This paper considers the problem of motion … This paper considers the problem of motion planning for a carlike robot (i.e., a
mobile robot with a nonholonomic constraint whose turning radius is lowerbounded). We
present a fast and exact planner for our mobile robot model, based upon recursive
subdivision of a collisionfree path generated by a lowerlevel geometric planner that
ignores the motion constraints. The resultant trajectory is optimized to give a path that
is of nearminimal length in its homotopy class. Our claims of high speed are supported by
experimental results for implementations that assume a robot moving amid polygonal
obstacles. The completeness and the complexity of the algorithm are proven using an
appropriate metric in the configuration space R2 x S1 of the robot. This metric is defined
by using the length of the shortest paths in the absence of obstacles as the distance
between two configurations. We prove that the new induced topology and the classical one
are the same. Although we concentration upon the carlike robot, the generalization of
these techniques leads to new theoretical issues involving subRiemannian geometry and to
practical results for nonholonomic motion planning. results for nonholonomic motion planning. +


Authors  JP. Laumond, P. E. Jacobs, M. Taix and R. M. Murray + 
ID  1994p + 
Source  <i>IEEE T. Robotics and Automation</i>, 10: (5) 577593 + 
Tag  ljtm94tra + 
Title  A Motion Planner for Nonholonomic Robots + 
Type  Downloading and printing FAQ + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:20:41 + 
URL This property is a special property in this wiki.

http://help.html + 
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