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Motion planning for a non-holonomic mobile robot on 3-dimensional terrains

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Geometric Reasoning for Perception and Action (GRPA 1991)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 708))

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Abstract

This paper addresses the problem of autonomous navigation of mobile robots on rough terrains. The contribution is a geometrical path planning algorithm that considers the geometry of the robot and its kinematic constraint in order to plan trajectories on a 3D terrain represented by polygonal patches. A first version of this planner has been implemented and simulation results that show the effectiveness of the approach are presented at the end of the paper.

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Authors and Affiliations

  1. LAAS-CNRS, 7, Avenue du Colonel Roche, 31077, Toulouse Cedex, France

    Thierry Siméon

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  1. Thierry Siméon
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Christian Laugier

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© 1993 Springer-Verlag Berlin Heidelberg

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Siméon, T. (1993). Motion planning for a non-holonomic mobile robot on 3-dimensional terrains. In: Laugier, C. (eds) Geometric Reasoning for Perception and Action. GRPA 1991. Lecture Notes in Computer Science, vol 708. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-57132-9_3

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  • DOI: https://doi.org/10.1007/3-540-57132-9_3

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-57132-2

  • Online ISBN: 978-3-540-47913-0

  • eBook Packages: Springer Book Archive

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