Autonomous navigation of a nonholonomic mobile robot in a complex environment

This paper presents a new path planning algorithm for the autonomous navigation of a nonholonomic mobile robot. The environment in which the robot evolves is unknown and encumbered by obstacles. The goal of the robot is to move towards the arrival point (which is known) by avoiding the obstacles. Th...

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Bibliographische Detailangaben
Hauptverfasser:	Kokosy, A., Defaux, F.-O., Perruquetti, W.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	complex environment Conferences Convergence flatness Mobile robots Navigation non linear optimization nonholonomic robot Path planning robot navigation Robot sensing systems Safety Spirals supervisor Switches Trajectory
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