DocumentCode
2365529
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
fYear
2005
fDate
7-9 Sept. 2005
Firstpage
463
Lastpage
466
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Electronics Engineering, 2005 2nd International Conference on
Print_ISBN
0-7803-9230-2
Type
conf
DOI
10.1109/ICEEE.2005.1529670
Filename
1529670
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