Foundations of Parameterized Trajectoriesbased Space Transformations for Obstacle Avoidance
Jose‐Luis Blanco, Juan Antonio Navarro Gonz�lez, J.A. Fernndez-Madrigal · InTech eBooks · 2008
In this work we have reviewed existing methods for obstacle avoidance and reactive navigation, and discussed how space transformations can be employed to extend their applicability to kinematically-constrained and any-shape mobile robots, making use of a clear and useful separation of the problems of robot shape and kinematic restrictions, and collision avoidance. We have developed a generalized kinematics abstraction mechanism which allows us using a variety of path models (PTGs) to obtain a better sampling of the