Complexity of Nonholonomic motion planning - ENSTA Paris - École nationale supérieure de techniques avancées Paris
Article Dans Une Revue International Journal of Control Année : 2001

Complexity of Nonholonomic motion planning

Frédéric Jean

Résumé

The complexity of motion planning amidst obstacles is a well modeled and understood notion. What is the increase of the complexity when the problem is to plan the trajectories of a nonholonomic robot? We show that this quantity can be seen as a function of paths and of the distance between the paths and the obstacles. We propose various definitions of it, from both topological and metric points of view, and compare their values. For two of them we give estimates which involve some E-norm on the tangent space to the configuration space. Finally we apply these results to compute the complexity needed to park a car-like robot with trailers.
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Dates et versions

hal-01010759 , version 1 (20-06-2014)

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Citer

Frédéric Jean. Complexity of Nonholonomic motion planning. International Journal of Control, 2001, 74 (8), pp.776-782. ⟨10.1080/00207170010017392⟩. ⟨hal-01010759⟩

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