Motion Planning With Acceleration Constraint
Anup Basu, Gökhan Bakır, Hong Zhang · 2005
In this paper we examine the problem of finding a local collision free path between two points in a two dimensional space. We consider a non-h.olonomic robot with constraints on normal acceleration. Solution, of this problem is important in order to prevent a robot moving on wheels from slipping (or skidding) while turning. The exact solution (known so far) to the problem of reachability is exponential. We analyze th,e problem of finding an approximate path locally with an a priori probability (or approximation measure). Our algorithm is based on a variable size discretization, which is computed locally depending on the given constraints, the size of the local free space, and the closeness of the approximation. Implemen,tation results demonstrating the validity of the method are presented.