Motion Planning Strategies for Non-holonomic Vehicles

JUAN MARTIN PINNA CORTIÑAS; FAVIO MASSON; JOSE GUIVANT

Congreso; XII Reunión de Trabajo en Procesamiento de la Información y Control; 2007

The purpose of this paper is to apply existing motion planning strategies to a car-like vehicle capable of avoiding obstacles while achieving a pre-set goal. Different algorithms were implemented to obtain the control actions required to make a vehicle with non-holonomic constraints navigate safely in an environment cluttered up with obstacles. The relevance of the differential constraints, to which a car- like vehicle is subject, are evidenced by extensive nu- merical simulations. The steps towards the develop- ment of an algorithm capable of on-line planning are highlighted.