Newsgroups: comp.robotics
Path: brunix!uunet!stanford.edu!CSD-NewsHost.Stanford.EDU!leland.stanford.edu!mark
From: mark@killdeer.Stanford.EDU (Mark Hosang Yim)
Subject: Re: non-holonomic motion planner (need one!)
Message-ID: <1992Mar18.220101.5041@CSD-NewsHost.Stanford.EDU>
Sender: mark@leland.Stanford.EDU (Mark Hosang Yim)
Organization: CS Robotics Lab, Stanford University, CA 94305, USA
References:  <1992Mar11.150345.5305@clouso.crim.ca>
Date: Wed, 18 Mar 1992 22:01:01 GMT
Lines: 38

In article <1992Mar11.150345.5305@clouso.crim.ca>, freedman@crim.ca (Paul Freedman) writes:
... 
|> i'm looking for a 2D non-holonomic motion planner in the public
|> domain.  something which i could use for driving a truck + trailer
|> from an initial pose (position + orientation) to a final pose,
|> subject to the usual constraints on steering angle, speed, etc.
....
|> 
|> paul freedman <freedman@crim.ca>
|> CRIM, 3744 rue Jean-Brillant, bureau 500, Montreal Quebec, H3T 1P1 CANADA
|> tel: (514) 340 5748 / fax: (514) 340 5777


Jerome Barraquand and Jean-Claude Latombe did some work a while ago
that may be of interest.  One the examples that I've seen is a truck 
and trailer with limited turning angle, and does the path planning 
for such things as parallel parking.  (Not an obvious task for us
non-truckers).  It runs pretty quickly, on the order of several minutes
on a DEC 3100 (details in the following paper).

They wrote a Stanford technical paper a few years back, but have
a newer paper coming out soon.


To appear in "Algorithmica", Springer-Verlag, New York, 1992:

"Nonholonomic Multibody Mobile Robots: Controllability and Motion
Planning in the Presence of Obstacles." by
Jerome Barraquand and Jean-Claude Latombe, Robotics Laboratory,
Department of Computer Science, Stanford University, 
Stanford, CA 94305. USA

Key words:  Path Planning, robotics, mobile robots, controllability,
nonholonomy, optimal maneuvering, collision avoidance.


Mark Yim
mark@killdeer.stanford.edu
