This paper shows how to compute the nonholonomic distance between a point-wise car-like robot and polygonal obstacles, Geometric constructions to compute the shortest paths from a configuration (given orientation and position in the plane of the robot) to a position (i.e., a configuration with unspecified final orientation) are first presented. The geometric structure of the reachable set (set of points in the plane reachable by paths of given length l) is then used to compute the shortest paths to straight-line segments. Obstacle distance is defined as the length of such shortest paths. The algorithms are developed for robots that can move both forward and backward (Reeds&Shepp's car) or only forward (Dubins' car). They are based on the convexity analysis of the reachable set.

Obstacle distance for car-like robots / Vendittelli, Marilena; J. P., Laumond; C., Nissoux. - In: IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION. - ISSN 1042-296X. - 15:4(1999), pp. 678-691. [10.1109/70.781973]

Obstacle distance for car-like robots

Abstract

This paper shows how to compute the nonholonomic distance between a point-wise car-like robot and polygonal obstacles, Geometric constructions to compute the shortest paths from a configuration (given orientation and position in the plane of the robot) to a position (i.e., a configuration with unspecified final orientation) are first presented. The geometric structure of the reachable set (set of points in the plane reachable by paths of given length l) is then used to compute the shortest paths to straight-line segments. Obstacle distance is defined as the length of such shortest paths. The algorithms are developed for robots that can move both forward and backward (Reeds&Shepp's car) or only forward (Dubins' car). They are based on the convexity analysis of the reachable set.
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1999
car-like robots; nonholonomic distance; shortest paths
01 Pubblicazione su rivista::01a Articolo in rivista
Obstacle distance for car-like robots / Vendittelli, Marilena; J. P., Laumond; C., Nissoux. - In: IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION. - ISSN 1042-296X. - 15:4(1999), pp. 678-691. [10.1109/70.781973]
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Utilizza questo identificativo per citare o creare un link a questo documento: `https://hdl.handle.net/11573/126007`
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