Kinematic path planning for robots with holonomic and nonholonomic constraints

Authors Adam Divelbiss, Sanjeev Seereeram, John T. Wen

Publication date 18 May 2000

finite time nonlinear control problem holonomic constraints iterative solution mobile vehicles with multiple trailers nonholonomic constraints redundant arms static root finding problem

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Holonomic systems related to the dynamics of a system of particles (70F20) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05)

Review text

We address the problem of finding a kinematically feasible path that satisfies a given set of holonomic and nonholonomic constraints, of both equality and inequality types. The path planning problem is first posed as a finite time nonlinear control problem. This problem is subsequently transformed to a static root finding problem in an augmented space, which can then be iteratively solved. The algorithm has shown promising results in planning feasible paths for redundant arms satisfying Cartesian path following and goal endpoint specifications, and mobile vehicles with multiple trailers. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima. For the entire collection see [Zbl 0903.00092].

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