relation: http://eprints.imtlucca.it/596/
title: Local incremental planning for a car-like robot navigating among obstacles
creator: Bemporad, Alberto
creator: De Luca, Alessandro
creator: Oriolo, Giuseppe
subject: QA75 Electronic computers. Computer science
subject: TL Motor vehicles. Aeronautics. Astronautics
description: We present a local approach for planning the motion of a car-like robot navigating among obstacles, suitable for sensor-based implementation. The nonholonomic nature of the robot kinematics is explicitly taken into account. The strategy is to modify the output of a generic local holonomic planner, so as to provide commands that realize the desired motion in a least-squares sense. A feedback action tends to align the vehicle with the local force field. In order to avoid the motion stops away from the desired goal, various force fields are considered and compared by simulation
publisher: IEEE
date: 1996
type: Book Section
type: PeerReviewed
identifier:   Bemporad, Alberto and De Luca, Alessandro and Oriolo, Giuseppe  Local incremental planning for a car-like robot navigating among obstacles.   In:  International conference on robotics and automation.   IEEE, Minneapolis, Minnesota - April 1996, pp. 1205-1211.  ISBN 0-7803-2988-0       (1996)  
relation: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=506871&isnumber=10816
relation: 10.1109/ROBOT.1996.506871