Cars that would park
automatically or that would be able to manage a stop-and-go mode in traffic jam
are potential industrial application of non-holonomic motion planning. A
previously planned trajectory may have to be deformed during execution to avoid
collisions. There are several reasons for that:
- The map of the environment may be inaccurate
- New obstacles may appear that were not in the map
- If the planned trajectory is not exactly followed due to a poor localized of the robot, unexpected collisions may occur
The non-holonomic path
deformation method is a generic approach of the online trajectory deformation
issue. There are several non-holonomic systems. But the main principal behind
them is same. First we need to compute a potential function along the path to
the obstacles decreases. Then a direction of deformation is computed in order
to make this potential decrease that is for the path to get away from
obstacles. The seminal idea of the method is then to establish a relationship
between the direction of deformation and the inputs of the system represented
by the mobile robot. Then we compute input perturbations that will make the
path go in direction of deformation. If we want indeed the deformed path to be
feasible by the system, not any path deformation that would make the potential
decrease is admissible. The steps of this method is,
a.
Defining a non-holonomic system
b.
Infinitesimal
path deformation
c. Establishment of a relationship between
obstacles and path deformation
d.
Take into account the boundary conditions
Bandara W.M.N.N
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