arxivcs.RO2026-07-20
Finite-Time Curvature-Constrained Vector Field for Saturation-Free Motion Planning of Nonholonomic Robots
Zhouru Xiao, Sha Luo, Yang Lu, Héctor García de Marina, Zhenyang Xu, Chaosong Gong, et al.
Accurately steering a robot to a target configuration is fundamental in engineering, yet remains challenging for nonholonomic mobile robots. Vector fields (VFs) provide a natural framework by specifying desired motion directions throughout the workspace and enabling direct integr…