Mobile robot trajectory planning with dynamic and kinematic constraints

Dynamically Feasible Probabilistic Motion Planning in Complex Environments for UAVs

“…In (Komoriya & Tanie, 1989) , dynamic trajectory is generated with the minimum travel time for two-wheeled-driven type mobile robot. In (Munoz et al, 1994) visibility-based path is modified to continuous feasible path via B-Spline curves. Using the well known local support property of B-Spline curves, real-time path modification methods are proposed for multiple mobile robots in (Paulos, 1998) and robot manipulators in (Dyllong & Visioli, 2003).…”

Continuous curvature path generation based on -spline curves for parking manoeuvres

“…The values are determined by an equation similar to (19). In this paper the valuep s = 0 has been used.…”

“…Usually, path-planning problem has to take into account nonholonomic and noncollision constraints [14,16], and the control problem is solved by means of path-tracking techniques. Path-planning techniques should consider also physical characteristics of the vehicle such as the steering velocity boundary [19].…”

Collision-Free Composite ?3–Splines Generation for Nonholonomic Mobile Robots by Parallel Variable-Length Genetic Algorithm

“…Recently various researches of mobile-robots path planning using different path primitives and planning schemes in a given static environments has been presented in the literature, genetic algorithm in particular [1]- [6], [11]- [18]. In general, path planning in robotics can be formulated as nonlinear constrained optimization problems in configuration or Cartesian space.…”

“…[1], [8], [12]) and splines (e.g. [11]) to mobile robot path planning are shown. Among these, η 3 -splines published by Piazzi et al [8] reveal its ability to superiorly approximate a rich class of practically useful, commonly used path primitives in wheeled mobile robot path planning such as straight line segment, circular arc, clothoid (Conru spiral) [2].…”