Elastic bands for nonholonomic car-like robots : algorithms and combinatorial issues.

Hazem Jaouny , M. Khatib , Jean-Paul Laumond (1)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

This paper presents a dynamic structure allowing to enrich any non-holonomic motion planner for car-like robots with the capability of reactivity to environment changes. It is based on a pavement of paths by star-shaped domains computed in the singular metric of the car-like robot.

Domaines: Robotique [cs.RO]

Hazem Jaouny, M. Khatib, Jean-Paul Laumond. Elastic bands for nonholonomic car-like robots : algorithms and combinatorial issues.. Workshop on the Algorithmic Foundations of Robotics, Mar 1998, Houston, Texas, United States. 16p. ⟨hal-01525228⟩