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- W2565656462 abstract "This paper addresses the problem of real-time, non-holonomic motion planning in environments with moving obstacles of unforeseen, arbitrary motion. An approach is introduced to smoothly switch trajectories by generating feasible non-holonomic trajectory segments on the fly as the robot moves in such an environment, extending the real-time adaptive motion planning (RAMP) approach that is used for holonomic motion. It allows efficient on-line simultaneous planning and execution of non-holonomic trajectories and enables a robot to adapt to changes in the environment while taking into account robot motion uncertainty. The effectiveness and efficiency of the method has been verified through real experiments with a mobile robot and several dynamic obstacles of unforeseen motion to the robot." @default.
- W2565656462 created "2017-01-06" @default.
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- W2565656462 date "2016-10-01" @default.
- W2565656462 modified "2023-10-16" @default.
- W2565656462 title "Real-time adaptive non-holonomic motion planning in unforeseen dynamic environments" @default.
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- W2565656462 doi "https://doi.org/10.1109/iros.2016.7759690" @default.
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