Shortest path synthesis for Dubins non-holonomic robot

We calculate the partition of the configuration space R/sup 2//spl times/S/sup 1/ of a car-like robot, only moving forwards, with respect to the type of the length optimal paths. This kind of robot is subject to kinematic constraints on its path curvature and its orientation. Starting from the resul...

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Bibliographic Details
Published inRobotics and Automation, '94 International Conference pp. 2 - 7 vol.1
Main Authors Xuan-Nam Bui, Boissonnat, J.-D., Soueres, P., Laumond, J.-P.
Format Conference Proceeding
LanguageEnglish
Published IEEE Comput. Soc. Press 1994
Subjects
Clocks
Mobile robots
Network address translation
Optimal control
Orbital robotics
Robot kinematics
Robotics and automation
Turning
Wheels
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ISBN9780818653308
0818653302
DOI10.1109/ROBOT.1994.351019

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Summary:We calculate the partition of the configuration space R/sup 2//spl times/S/sup 1/ of a car-like robot, only moving forwards, with respect to the type of the length optimal paths. This kind of robot is subject to kinematic constraints on its path curvature and its orientation. Starting from the results on shortest paths, we give new optimality conditions on these paths, and compute the partition for any horizontal plane of the configuration space.< >
ISBN:9780818653308
0818653302
DOI:10.1109/ROBOT.1994.351019