Abstract
This paper deals with mobile robots path planning. We decompose the problem in three parts. In the first part, we describe a modeling method based on a configuration space discretization. Each model element is built following a particular structure which is easy to handle, as we will show. We describe the methodologies and the algorithms allowing to build the model. In the second part, we propose a path-planning application for a non-holonomic robot in configuration space. In the third part, we modify the path in order to be robust according to the control errors.
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Pruski, A., Rohmer, S. Robust Path Planning for Non-Holonomic Robots. Journal of Intelligent and Robotic Systems 18, 329–350 (1997). https://doi.org/10.1023/A:1007937713460
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DOI: https://doi.org/10.1023/A:1007937713460