Motion planning and obstacle avoidance

Minguez, J.; Lamiraux, F.; Laumond, J-P.

doi:/10.1007/978-3-319-32552-1_47

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Motion planning and obstacle avoidance

Minguez, J.; Lamiraux, F.; Laumond, J-P. (2016). Motion planning and obstacle avoidance, in: Siciliano, B. et al. Springer handbook of robotics. pp. 1177-1202. https://dx.doi.org/10.1007/978-3-319-32552-1_47

In: Siciliano, B.; Khatib, O. (Ed.) (2016). Springer handbook of robotics. Second edition. Springer Verlag: Berlin. ISBN 978-3-319-32550-7; e-ISBN 978-3-319-32552-1. LXXVI, 2227 pp. https://dx.doi.org/10.1007/978-3-319-32552-1

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Minguez, J. Lamiraux, F. Laumond, J-P.

Abstract

This chapter describes motion planning and obstacle avoidance for mobile robots. We will see how the two areas do not share the same modeling background. From the very beginning of motion planning, research has been dominated by computer sciences. Researchers aim at devising well-grounded algorithms with well-understood completeness and exactness properties. The challenge of this chapter is to present both nonholonomic motion planning (Sects. 47.1–47.6) and obstacle avoidance (Sects. 47.7–47.10) issues. Section 47.11 reviews recent successful approaches that tend to embrace the whole problem of motion planning and motion control. These approaches benefit from both nonholonomic motion planning and obstacle avoidance methods.

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