Trajectory generation for car-like robots

Conference · Fri Jun 01 04:00:00 EDT 1990 · Transactions of the American Nuclear Society; (USA)

OSTI ID:6378144

Vasseur, H A; Pin, F G ^[1]

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1. Oak Ridge National Lab., TN (USA)

Autonomous robots or remotely operated vehicles have raised high hopes in the military and industrial communities because of the potential safety improvement and gain of productivity they may provide. Waste management on nuclear sites, pallet manipulation in factories, interventions on battlefields, etc., are actively studied. A lot of these applications require powerful four-wheel vehicles, the kinematics of which is similar to that of a car. Such vehicles have three degrees of freedom: the (x,y) positions in a plane and the orientation of the vehicle. Path planning is often understood as only changing the position of the vehicle, whereas the tasks performed by this kind of robot require a perfect orientation of the vehicle: forklifting a pallet or docking at a loading or unloading station requires accuracy in the orientation of the vehicle. It is this requirement and the kinematic constraints of the motion mode that have led to the path-planning algorithm presented in this paper.

• OSTI ID: 6378144
• Report Number(s): CONF-900608--
• Conference Information: Journal Name: Transactions of the American Nuclear Society; (USA) Journal Volume: 61
• Country of Publication: United States
• Language: English

Related Subjects

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11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
42 ENGINEERING
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99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
CONTROL SYSTEMS
MANAGEMENT
NUCLEAR FACILITIES
PLANNING
RADIATION PROTECTION
RADIOACTIVE WASTE MANAGEMENT
ROBOTS
TRAJECTORIES
TWO-DIMENSIONAL CALCULATIONS
VELOCITY
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