Potential fields for nonholonomic vehicles

Abstract

The problem of motion planing of a wheeled nonholonic vehicle is treated by decomposing the problem to the subproblems: 1) find a collision free path; and 2) approximate this path with a nonholonomic collision free path. This is treated, in real time, by solving the first subproblem using a potential fields strategy and the second one with nonholonomic tracking. Thus, collision avoidance of a nonholonomic wheeled vehicle in a feedback formulation is achieved.