Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape

This paper shows how to compute the nonholonomic distance between a polygonal car-like robot and polygonal obstacles. The solution extends previous work of Reeds and Shepp by finding the shortest path to a manifold (rather than to a point) in configuration space. Based on optimal control theory, the...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on robotics 2006-10, Vol.22 (5), p.1040-1047
Main Authors: Giordano, P.R., Vendittelli, M., Laumond, J.-P., Soueres, P.
Format: Article
Language:English
Subjects:
Applied sciences
Car-like robots
Computer science
control theory
systems
Control system synthesis
Control theory
Control theory. Systems
Equations
Euclidean distance
Exact sciences and technology
Exact solutions
Manifolds
Mathematical models
Motion planning
nonholonomic distance
Obstacles
Optimal control
optimal control theory
Orbital robotics
Polygons
Reeds
Robot motion
Robotics
Robots
Shape
Shortest path problem
shortest paths
Shortest-path problems
Studies
Topological manifolds
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper shows how to compute the nonholonomic distance between a polygonal car-like robot and polygonal obstacles. The solution extends previous work of Reeds and Shepp by finding the shortest path to a manifold (rather than to a point) in configuration space. Based on optimal control theory, the proposed approach yields an analytic solution to the problem
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2006.878956