Title :
Shortest distance paths for wheeled mobile robots
Author :
Alexander, James C. ; Maddocks, John H. ; Michalowski, Brian A.
Author_Institution :
Dept. of Math., Maryland Univ., College Park, MD, USA
fDate :
10/1/1998 12:00:00 AM
Abstract :
Minimal distance paths between prescribed initial and final configurations of a wheeled mobile robot are calculated, both analytically and numerically, using methods of optimal control. The construction of these trajectories can be considered as part of an analysis of obstacle avoidance
Keywords :
minimisation; mobile robots; optimal control; path planning; final configurations; initial configurations; minimal distance paths; obstacle avoidance; shortest distance paths; wheeled mobile robots; Axles; Computer science; Mathematics; Mobile robots; Optimal control; Shape; Wheels;
Journal_Title :
Robotics and Automation, IEEE Transactions on
