A geometric path planner for car-like robots

This technical brief presents a refined slabbing method, originally used fo r free-flying robots, for finding efficient paths for nonholonomic robots. Our method takes kinematic constraints and reversal maneuvers into account. We create orientation levels for each orientation configuration of the rob ot. The slopes of slabbing lines in each orientation level match the orient ation of a robot in that level. The resulting slabbing lines act as "rails" to guide the robot. Thus. a robot, if it keeps moving in a given orientati on level, can only translate straight font ard or straight backward along a given slabbing line. Limiting robot movement to straight forward Or straig ht backward along a slabbing line prevents the robot from violating kinemat ic constraints, by moving sideways to another slabbing line. [S1050-0472(00 )01403-3].