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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| Published in | Robotics and Automation, '94 International Conference pp. 2 - 7 vol.1 |
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| Main Authors | , , , |
| Format | Conference Proceeding |
| Language | English |
| Published |
IEEE Comput. Soc. Press
1994
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| Subjects | |
| Online Access | Get full text |
| ISBN | 9780818653308 0818653302 |
| DOI | 10.1109/ROBOT.1994.351019 |
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| Abstract | 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.< > |
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| AbstractList | 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.< > |
| Author | Soueres, P. Laumond, J.-P. Boissonnat, J.-D. Xuan-Nam Bui |
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| Snippet | 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... |
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| SubjectTerms | Clocks Mobile robots Network address translation Optimal control Orbital robotics Robot kinematics Robotics and automation Turning Wheels |
| Title | Shortest path synthesis for Dubins non-holonomic robot |
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