Elastic bands for nonholonomic car-like robots : algorithms and combinatorial issues.
Résumé
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]
Origine : Fichiers produits par l'(les) auteur(s)