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This paper considers the navigation of a group of nonholonomic autonomous mobile robots subject to constraints imposed by sensors. The proposed scheme uses a decentralized receding horizon motion planner, in which each robot computes its own planned trajectory. The proposed scheme is divided into two steps. First, each robot computes its presumed trajectory without taking the coupling constraints...
This paper presents a novel and computationally inexpensive method for motion planning of autonomous parallel parking of four wheeled nonholonomic vehicles. The proposed method makes use of Trajectory Shaping Guidance, given in [1] and [2], which was originally developed for missiles to hit the target at a given angle. This paper uses a modified version of Trajectory Shaping Guidance (TSG) for path...
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