DocumentCode
2328836
Title
Shortest path synthesis for Dubins non-holonomic robot
Author
Bui, Xuân-Nam ; Boissonnat, Jean-Daniel ; Souères, Philippe ; Laumond, Jean-Paul
Author_Institution
Inst. Nat. de Recherche en Inf. et Autom., Sophia Antipolis, France
fYear
1994
fDate
8-13 May 1994
Firstpage
2
Abstract
We calculate the partition of the configuration space R 2×S1 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
Keywords
minimisation; mobile robots; path planning; robot kinematics; Dubins nonholonomic robot; car-like robot; configuration space partition; kinematic constraints; orientation; path curvature; shortest path synthesis; Clocks; Mobile robots; Network address translation; Optimal control; Orbital robotics; Robot kinematics; Robotics and automation; Turning; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.351019
Filename
351019
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