Symbolic computation for mobile robot path planning
Motion planning for mobile robots is an arduous task. Among the various methods that have been proposed for the solution of this problem in its open loop version is the LafferriereSussmann method, which is based on differential geometry and employs piecewise constant inputs. This paper gives a succinct description of the method and of a freely available software tool, called the Lie Algebraic Motion PlannerLAMP and written in Mathematica, which automates motion planning based on this technique.
mobile robotics motion planning differential geometry