Title :
Shortest paths to obstacles for a polygonal car-like robot
Author :
Vendittelli, M. ; Laumond, J.P. ; Soueres, P.
Author_Institution :
Rome Univ., Italy
Abstract :
The paper shows how to compute the nonholonomic distance between a car-like robot of polygonal shape and polygonal obstacles. Adopting an optimal control point of view, we use transversality conditions to get information about the structure of paths that are admissible solutions. With this information, the problem of minimizing the length of a path that is, in general, a function of three parameters, is reduced to that of minimizing a function of one variable, namely, the robot final orientation. To solve the problem, we decompose it into three subproblems and find sufficient families of shortest paths, solving each of the subproblems
Keywords :
minimisation; mobile robots; motion control; optimal control; path planning; admissible solutions; nonholonomic distance; obstacles; optimal control; path length minimization; path structure; polygonal car-like robot; polygonal obstacles; polygonal shape; robot final orientation; shortest paths; subproblems; sufficient families; transversality conditions; Axles; Euclidean distance; Mobile robots; Motion planning; Optimal control; Orbital robotics; Path planning; Robot kinematics; Shape control; Wheels;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.832740
