A New Performance-Based Motion Planner for Nonholonomic Mobile Robots. The 3rd Performance Metrics for Intelligent Systems Workshop (PerMIS’03

We address the global trajectory planning problem of non-holonomic mobile robots in environments with static and dynamic obstacles. The global trajectory is composed of regional feasible trajectories which satisfy the dynamics of the robot kinematic model. Piecewise constant parame-terization is used to construct regional feasible trajectory and steering control, and collision avoidance criterion is de-rived. Performance considered in the paper include robot safety, geometry-based criteria, time-based criteria, and physics-based criteria. Regional analytic trajectory solu-tions facilitate performance evaluation of the global trajec-tory. Simulations show a good performance of the planned trajectory using the proposed scheme