Authors
Quan Yuan, Ji Yeong Lee and Changsoo Han, Hanyang University, Korea
Abstract
This paper presents an algorithm, based on conventional GVG that enables a car-like robot find a collision free path from depart configuration to some goal position in an environment containing some convex obstacles. Prior research on GVG prescribed path for a circular robot. The circular robot is holonomic system, but this time GVG is used in nonholonomic system. The proposed algorithm enables the car-like robot depart the GVG to the goal position with the nonholonomic path.
Keywords
sensor based, nonholonomic, departability, GVG roadmap, convex set.