ReactivePathDeformationforNonholonomicMobile-Laas.PDFVIP

1 Reactive Path Deformation for Nonholonomic Mobile Robots F. Lamiraux, D. Bonnafous, and O. Lefebvre LAAS-CNRS, Toulouse, France {orent,dbonnafo,olefebvr}@laas.fr Abstract This paper presents a novel and generic ap- proach of path optimization for nonholonomic systems. The approach is applied to the problem of reactive navigation for nonholonomic mobile robots in highly cluttered environ- ments. A collision-free initial path being given for a robot, obstacles detected while following this path can make it in collision. The current path is iteratively deformed in order to ge away from obtacles and satisfy the nonholonomic con- straints. The core idea of the approach is to perturb the input functions of the system along the current path in or- der to modify this path, making an optimization criterion decrease. Fig. 2. Deformation of the path of mobile robot Hilare 2 towing a trailer. Each path along the deformation process is represented by a curve of abscissa s in the conguration space, while τ represents time. In this example, the robot is on the left and obstacles (not represe