A Trajectory Planner For Mobile Robots Steering Non-Holonomic Wheelchairs In Dynamic Environments
Martin Schulze,Friedrich Graaf,Lea Steffen,Arne Roennau,Rüdiger Dillmann,Martin Schulze,Friedrich Graaf,Lea Steffen,Arne Roennau,Rüdiger Dillmann
Motion planning for mobile robot platforms is one of the long-established research fields in robotics. In this paper, we propose a trajectory planner for mobile holonomic robots to steer non-holonomic conventional passive wheelchairs in dynamic environments. The challenges to overcome when steering a wheelchair are to find smooth feasible trajectories, maintain a fast reactive response to dynamic ...
