eprintid: 596
rev_number: 10
eprint_status: archive
userid: 7
dir: disk0/00/00/05/96
datestamp: 2011-07-27 09:20:37
lastmod: 2014-07-16 13:05:32
status_changed: 2011-07-27 09:20:37
type: book_section
metadata_visibility: show
item_issues_count: 0
creators_name: Bemporad, Alberto
creators_name: De Luca, Alessandro
creators_name: Oriolo, Giuseppe
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
creators_id: 
title: Local incremental planning for a car-like robot navigating among obstacles
ispublished: pub
subjects: QA75
subjects: TL
divisions: CSA
full_text_status: none
keywords: feedback; mobile robots; navigation; nonlinear systems; path planning; position control; robot kinematics
abstract: 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
date: 1996
date_type: published
publication: Proc. IEEE Conf. Robotics and Automation
volume: 2
publisher: IEEE
place_of_pub: Minneapolis, Minnesota - April 1996
pagerange: 1205-1211
event_dates: Minneapolis, USA
id_number: 10.1109/ROBOT.1996.506871
refereed: TRUE
isbn: 0-7803-2988-0 
book_title: International conference on robotics and automation 
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=506871&isnumber=10816
citation:   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)