Path Planning And Trajectory Planning For Non Holonomic Mobile Robots
R. Zapata, Jean-Bernard Thevenon, Pascal Perrier, Eric Pommier, E. Badi · 2005
This paper adresses the Path Planning and the Trajectory Planning problems for mobile robots moving in dynamic ill-structured environments. The obstacle avoidance problem during large motions is discussed and a multi-expert motion planning system is described. Then, the non holonomic constraints are studied for the fine motions. At last, some implementations are described.