Abstract
This paper explores the problem of model-based motion planning for a mobile robot. The kinematic model we use is that of a mobile platform with two degrees of freedom. The mobile robot is subject to a kinematic constraint, the number of its degrees of freedom being less than the dimension of its Configuration Space.
The problem posed here is then essentially to control the number of backing-up maneuvers along a path. Addressing first the “local” problem of turning in a corridor, we show that sliding continuously on the outer wall in a turn constitutes a canonical contact trajectory, in the sense that if it is not safe, there cannot be another safe trajectory with no backing-up maneuver. In the case no smooth trajectory exists, we propose some simple maneuvers.
A heuristic path planning algorithm based on a decomposition of Free Space into cones connected by turns is then presented. Finally we discuss how this can apply within the more realistic framework of a real mobile robot at work, by implementing these results as a set of rules of behaviour for the robot.
This is a preview of subscription content, log in via an institution.
Preview
Unable to display preview. Download preview PDF.
References
F. Avnaim, J.D. Boissonnat, and B. Faverjon. A practical exact motion planning algorithm for polygonal objects amidst polygonal obstacles. In Proceedings of IEEE Int. Conference on Robotics and Automation, 1988.
R.A. Brooks and T. Lozano-Pérez. A subdivision algorithm in configuration space for findpath with rotation. In IEEE Transactions on Systems, Man and Cybernetics, SMC-15(2), pages 224–233, 1985.
R.A. Brooks. Solving the find-path problem by representing free space as generalized cones. In IEEE Transactions on Systems, Man and Cybernetics, SMC-13(2), pages 190–197, 1982.
B. Faverjon. Obstacle avoidance using an octree in the configuration space of a manipulator. In Proceedings of IEEE Int. Conference on Robotics and Automation, Atlanta, March 1984.
B. Faverjon and P. Tournassoud. A local based approach for path planning of manipulators with a high number of degrees of freedom. In Proceedings of IEEE Int. Conference on Robotics and Automation, pages 1152–1159. Raleigh, April 1987. Also INRIA Research Report N 621, February 1987.
B. Faverjon and P. Tournassoud. The mixed approach for motion planning: learning global strategies from a local planner. In Proceedings of the Int. Joint Conference on Artificial Intelligence, pages 1131–1137, Milan, August 1987.
J.P. Laumond. Feasible trajectories for mobile robots with kinematic and environment contraints. In Proceedings of the Int. Conference on Autonomous Systems, Amsterdam, December 1986.
J.P. Laumond. Finding collision-free smooth trajectories for a non-holonomic mobile robot. In Proceedings of the Int. Joint Conference on Artificial Intelligence, pages 1120–1123, Milan, August 1987.
T. Lozano-Pérez. A simple motion planning algorithm for general robot manipulators. In Proceedings of the 5th AAAI, Philadelphia 1986.
T. Lozano-Pérez and M. Wesley. An algorithm for planning collision-free paths among polyhedral obstacles. In Communications of ACM, pages 560–570, 1979.
J.T. Schwartz and M. Sharir. On the piano movers' problem ii: general techniques for computing topological properties of real algebraic manifolds. Advances in Applied Mathematics, (4):298–351, 1983.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1989 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Tournassoud, P. (1989). Motion planning for a mobile robot with a kinematic constraint. In: Boissonnat, J.D., Laumond, J.P. (eds) Geometry and Robotics. GeoRob 1988. Lecture Notes in Computer Science, vol 391. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-51683-2_29
Download citation
DOI: https://doi.org/10.1007/3-540-51683-2_29
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-51683-5
Online ISBN: 978-3-540-46748-9
eBook Packages: Springer Book Archive