Constrained Motion Planning: Applications in Mobile Robotics and in Maintenance Operations

A general method for motion planning with geometric and kinematic constraints is presented. It is based on a Progressive Constraints approach. A path satisfying only some of the geometric constraints is first gener­ ated. The other constraints are then applied progres­ sively. Concurrently1 the initial path evolves so as to be admissible with the current level of constraintsi and converges towards a solution of the original problem.