ROBUST PATH PLANNING FOR NONHOLONOMIC ROBOTS

This paper deals with mobile robots path planning. We decompose the pr oblem in three parts. In the first part, we describe a modeling method based on a configuration space discretization. Each model element is built following a particular structure which is easy to handle, as we will show. We describe the methodologies and the algorithms allowing t o build the model. In the second part, we propose a path-planning appl ication for a non-holonomic robot in configuration space. In the third part, we modify the path in order to be robust according to the contr ol errors.