Multilevel Path Planning for Nonholonomic Robots Using Semiholonomic Subsystems
- 1 August 1998
- journal article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 17 (8) , 840-857
- https://doi.org/10.1177/027836499801700803
Abstract
We present a new and complete multilevel approachfor solving path- planning problems for nonholonomic robots. At the first level, a path is found that disrespects (some of) the nonholonomic constraints. At each of the next levels, a new path is generated by transformation of the path generated at the previous level. The transformation is such that more nonholonomic constraints are respected than at the previous level. At the final level, all nonholonomic constraints are respected.Keywords
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