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Randomized Motion Planning For Groups Of Nonholonomic Robots, Christopher M. Clark, Stephen M. Rock.

Computer Science and Software Engineering

This paper presents a technique for motion planning which is capable of planning trajectories for a large number of nonholonomic robots. The robots plan within a two dimensional environment that consists of stationary/moving obstacles, and fixed boundaries. Each robot uses randomized motion planner techniques based on Probabilistic Road Maps (PRM’s) to construct it’s own trajectory that is free of collisions with moving obstacles and other robots. The randomized motion planner allows easy integration of the robots nonholonomic constraint into the planning so that only kinematically consistent plans are constructed. It is important to include this constraint in the planning problem …