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
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;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351019
