Title :
Complexity and path planning for a car-like robot
Author :
Romero-Meléndez, C. ; Monroy-Pérez, F. ; Vázquez-González, B.
Author_Institution :
Dept. of Basic Sci., UAM, Mexico, Mexico
Abstract :
We study the motion planning problem and its metric complexity for a car-like robot that rolls without slipping. By using geometric control techniques we derive a control strategy for approximating a non-admissible trajectory by means of a sequence of admissible trajectories within a defined ε-neighborhood. For a specific model we estimate numerically the metric complexity.
Keywords :
computational complexity; mobile robots; path planning; admissible trajectory; car-like robot; control strategy; geometric control technique; metric complexity; motion planning problem; path planning; Computational geometry; Control systems; Motion control; Motion planning; Numerical models; Orbital robotics; Path planning; Robots; Topology; Trajectory; Motion planning problem; metric complexity;
Conference_Titel :
Electrical and Electronics Engineering, 2005 2nd International Conference on
Print_ISBN :
0-7803-9230-2
DOI :
10.1109/ICEEE.2005.1529670
