Sensor-based trajectory deformation: Application to reactive navigation of nonholonomic robots

In this chapter, we present a sensor-based trajectory deformation process for nonholonomic robots. The method is based on infinitesimal perturbations of the input functions of the current trajectory. Input perturbation is computed in such a way that a an objective function decreases and that the trajectory initial and final configurations are kept unchanged. The method is then extended to docking for wheeled mobile robots. The final configuration of the deformation process is moved to a configuration in order to make perception fit a docking pattern. The method is demonstrated on mobile robot Hilare 2 towing a trailer. © 2010 Springer-Verlag London.