A nonlinear programming approach to nonholonomic motion planning with obstacle avoidance

Abstract

This paper presents an optimal collision-free path planning algorithm for classical nonholonomic systems in the presence of fixed and known obstacles. Algorithm combines the concept of geometric phase, path integral along an m-polygon and a nonlinear programming formulation of nonholonomic path planning. Two examples, the rolling disk and the kinematic hopping robot, are given to illustrate the effectiveness and flexibility of the proposed algorithm.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>