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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yanbo Li Jing Xiao |
| Copyright Year | 2009 |
| Abstract | Navigation of a car-like robot in environments with unknowns requires effective on-line planning of nonholonomic trajectories. We propose a set of basic maneuver patterns based on Bezier curves that allow either forward or backward motion as building blocks to create nonholonomic trajectories quickly, given a sequence of knot positions/points (e.g., from some GPS navigator). These maneuver patterns are particularly useful for generating feasible trajectories in crowded environments with many narrow passages. We embed the above techniques in a new planner suitable for on-line planning of nonholonomic and collision-free trajectories, called the ON planner. Our ON planner enables that, given a sequence of rough knot points, a car-like robot can simultaneously plan and move in a geometrically unknown, crowded environment with local sensing towards a goal. Simulation results demonstrate the planner's nice capabilities. |
| Starting Page | 3230 |
| Ending Page | 3236 |
| File Size | 590252 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781424427888 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2009.5152782 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-05-12 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Trajectory Robot sensing systems Navigation Global Positioning System Robotics and automation Path planning Remotely operated vehicles Vehicle driving Motion planning Computational modeling |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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