A kinematic simulator for motion planning of a mobile robot on a terrain
C Milesi-Bellier, C Laugier… - Proceedings of 1993 …, 1993 - ieeexplore.ieee.org
This paper deals with the problem of simulating the behavior of a mobile robot moving on a
terrain along a precomputed nominal path. The nominal path is supposed to be provided by
a planner. The purpose of the simulator to instantiate the nominal path into a complete
trajectory, while verifying that a set of constraints is satisfied all along the motion. The
simulator is based on an iterative algorithm to compute configurations for the robot at each
time increment. Each iteration consists of two successive steps: determination of a stable …
terrain along a precomputed nominal path. The nominal path is supposed to be provided by
a planner. The purpose of the simulator to instantiate the nominal path into a complete
trajectory, while verifying that a set of constraints is satisfied all along the motion. The
simulator is based on an iterative algorithm to compute configurations for the robot at each
time increment. Each iteration consists of two successive steps: determination of a stable …
[CITATION][C] A kinematic simulator for motion planning of a mobile robot on a terrain", IEEE/RSJ Int
C Bellier, C Laugier, B Faverjon - Workshop on Intelligent Robot and Systems …, 1993
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