A PATH SPACE APPROACH TO NONHOLONOMIC MOTION PLANNING IN THE PRESENCEOF OBSTACLES

This paper presents an algorithm for finding a kinematically feasible path for a nonholonomic system in the presence of obstacles. We first consider the path planning problem without obstacles by transforming i t into a nonlinear least squares problem in an augmented space which i s then iteratively solved, Obstacle avoidance is included as inequalit y constraints, Exterior penalty functions are used to convert the ineq uality constraints into equality constraints. Then the same nonlinear least squares approach is applied, We demonstrate the efficacy of the approach by solving some challenging problems, including a tractor-tra iler and a tractor with a steerable trailer backing in a loading dock, These examples demonstrate the performance of the algorithm in the pr esence of obstacles and steering and jackknife angle constraints.