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- W2138314018 abstract "The reactive navigation of a non-holonomic mobile robot implies selecting at each instant of time a motion command satisfying two conditions: to avoid collisions and to comply with the robot non-holonomic constraints. Most proposed reactive navigation approaches deal with these requirements simultaneously in an indivisible way. This paper proposes a clear separation of these problems by introducing a representation space where a robot losses its kinematics restrictions and can be dealt as a free-flying-point. The collision avoidance can therefore be solved by existing holonomic methods, which are able to steer non-holonomic, any-shaped robots when applied in this space, named the trajectory parameter space (TP-space). We also formalize the transformation between this space and the robot physical space introducing the parameterized trajectory generator (PTG), a translation between both spaces by means of a family of parameterized trajectories. This formalization is addressed in a generalized form to allow us deriving any number of different transformations. Unlike previous non-holonomic approaches that use just one single transformation, the proposed method considers a variety of them simultaneously which becomes an obvious improvement to reactive approaches: each one can detect a collision-free path that the others can not. We present some experimental results to show the suitability of our method and its advantages compared with traditional approaches" @default.
- W2138314018 created "2016-06-24" @default.
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- W2138314018 date "2006-10-01" @default.
- W2138314018 modified "2023-10-03" @default.
- W2138314018 title "The Trajectory Parameter Space (TP-Space): A New Space Representation for Non-Holonomic Mobile Robot Reactive Navigation" @default.
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- W2138314018 doi "https://doi.org/10.1109/iros.2006.281853" @default.
- W2138314018 hasPublicationYear "2006" @default.
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