Motion Planning for Rigid Body Robots
Abstract
Given a non-holonomic disc robot D, its motion constraints in terms of maximum curvature (Kmax) and rate of change of curvature (Kmax), a set W of rectilinear polygonal obstacles which assemble an office-like environment, and two configurations S and G in free(W), this thesis investigates the planning of a smooth free path which satisfies the following condition: D is allowed backing up motions at the end portions of the path, but the middle portion is to be of class C2 in its entirety. Although the motion planning problem of D amidst polygonal obstacles has been extensively studied, the paths considered are mostly class C1 and piecewise C2 only, and are subject only to the Kmax constraint. Typically, such paths consist of straight line segments and circular ars which have curvature discontinuity at the junction points. In order for E) to follow such paths physically, D has to stop abruptly at each junction point to change curvature. The C2 path investigated in this thesis allows non-stopping motion of D. It is also subject to a further Kmax, constraint to avoid turns that exceed the rate of change of curvature constraint.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jun 01, 1992
- Accession Number
- ADA257557
Entities
People
- Liek F. Tan
Organizations
- Naval Postgraduate School