Continuous-curvature trajectory planning for manoeuvrablenon-holonomic robots

摘要

Deals with trajectory planning for non-holonomic mobile robots. Wecall trajectory the association of a path, which is the geometricalrestriction of the motion, and of a time schedule given by a time table,a velocity or an acceleration profile. The robots considered arenon-holonomic, as their motion's direction is limited by the robot'sposition. However, two types of robot are considered: car-like vehicleshave a lower bounded turning radius, while manoeuvrable robots do not.The article shows that optimal paths for car-like vehicles correspond tooptimal trajectories for manoeuvrable robots, and presents how thesepaths can thus be followed by manoeuvrable robots faster than paths madeof line segments, along which these robots have to stop at eachdirection's discontinuity. Experimental results obtained using suchpaths for manoeuvrable robots are then provided