We address the problem of applying reactive navigation methods to non-holonomic robots. Rather than embedding the motion constraints when designing a navigation method, we propose to introduce the robot’s kinematic constraints directly in the spatial representation. In this space- the Ego

on shortest paths by [Dub57] and [BCL92], we give new optimality conditions on these paths, and compute the partition for any horizontal plane of the configuration space. Key-words: Optimal control, Synthesis problem, Non-holonomic robot, Bounded radius of curvature, Dubins shortest paths (R

handles visually homogeneous agents. We describe our non-holonomic control for single robot navigation, and show how it applies to dynamic path generation to avoid multiple moving obstacles. We illustrate our algorithms with examples from our real implementation. Using the approaches introduced, our

handles visually homogeneous agents. We describe our non-holonomic control for single robot navigation, and show howit applies to dynamic path generation to avoid multiple moving obstacles. We illustrate our algorithms with examples from our real implementation. Using the approaches introduced, our

proposes an algorithm to integrate, on a Nomad 200 TM robot, vision sensing with a control and planning system adapted to the robot. If practical results have not been as successful as anticipated, theoretical results and implementations should allow to achieve the aimed objectives soon. Table

In this paper we consider the problem of maintaining surveillance of a moving the target by a nonholonomic mobile observer. The observer's goal is to maintain visibility of the target from a predefined, fixed distance, l. The target escapes if (a) it moves behind an obstacle to occlude the observer's view, (b) it causes the observer to collide with an obstacle, or (c) it exploits the nonholonomic constraints on the observer motion to increase its distance from the observer beyond the surveillance distance l.

nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out

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in microprocessors and microcontrollers need constant exposure to the latest technologies available to ensure that their students remain on the cutting edge of our technological capability. The presentation will focus on how the BasicX (BX-24p) microcontroller may be utilized to control non-holonomic autonomous

Abstract- In this paper the harmonic potential field (HPF) approach to motion planning is adapted to work with second order mechanical systems. The extension is based on a novel type of dampening forces called: nonlinear, anisotropic, dampening forces (NADFs). It is shown that NADFs are effective aids for planning spatially-constrained kinodynamic trajectories for mechanical systems. Theoretical developments and simulation results are provided in the paper. I.