DocumentCode
775638
Title
Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape
Author
Giordano, Paolo Robuffo ; Vendittelli, M. ; Laumond, Jean-Paul ; Souères, Philippe
Author_Institution
Dipt. di Inf. e Sistemistica, Rome Univ.
Volume
22
Issue
5
fYear
2006
Firstpage
1040
Lastpage
1047
Abstract
This paper shows how to compute the nonholonomic distance between a polygonal car-like robot and polygonal obstacles. The solution extends previous work of Reeds and Shepp by finding the shortest path to a manifold (rather than to a point) in configuration space. Based on optimal control theory, the proposed approach yields an analytic solution to the problem
Keywords
collision avoidance; mobile robots; optimal control; nonholonomic distance; optimal control theory; polygonal car-like robot; polygonal obstacles; Control system synthesis; Equations; Euclidean distance; Motion planning; Motion-planning; Optimal control; Orbital robotics; Robot motion; Shape; Shortest path problem; Car-like robots; nonholonomic distance; optimal control theory; shortest paths;
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2006.878956
Filename
1705595
Link To Document