Nonholonomic Path Planning Based on Virtual Obstacle in Circuit Map
The nonholonomic constraint in path planning of wheeled mobile robot is described by setting virtual obstacles in circuit map. Virtual obstacles arc supposed to limit the motion direction and posture in the directions that the robots or vehicles cannot move under nonholonomic constraints. The results of path planning based on virtual obstacle are kinematics traceable. And the parking posture and parallel parking in path planning of mobile robot and vehicle are solved.