A nonlinear programming approach to nonholonomic motion planning with obstacle avoidance
Jing‐Sin Liu, Li‐Sheng Wang, Lung-Shan Tsai · 2002
This paper presents an optimal collision-free path planning algorithm for classical nonholonomic systems in the presence of fixed and known obstacles. Algorithm combines the concept of geometric phase, path integral along an m-polygon and a nonlinear programming formulation of nonholonomic path planning. Two examples, the rolling disk and the kinematic hopping robot, are given to illustrate the effectiveness and flexibility of the proposed algorithm.>