Abstract
This paper presents a method for local path planning for mobile robot navigation in an unknown environment, while considering the nonholonomic constraints of the robot. This method uses a new representation of the obstacles in the robot's velocity space, called feasible velocities polygon or FVP. The path planning algorithm is composed by two modules; the first one allows the robot to move towards the goal by using a local approach based on a optimization method (solved by a minimal distance calculation in the robot's velocity space). The second module, activated when a blocking situation is detected, uses the FVP to locally find the best velocity in order to solve the blocking situation.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
