TY  - CHAP
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=506871&isnumber=10816
A1  - Bemporad, Alberto
A1  - De Luca, Alessandro
A1  - Oriolo, Giuseppe
TI  - Local incremental planning for a car-like robot navigating among obstacles
Y1  - 1996///
ID  - eprints596
SP  - 1205
M1  - 2
SN  - 0-7803-2988-0 
AV  - none
T2  - International conference on robotics and automation 
PB  - IEEE
CY  - Minneapolis, Minnesota - April 1996
EP  - 1211
N2  - 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
KW  - feedback; mobile robots; navigation; nonlinear systems; path planning; position control; robot kinematics
ER  -