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 am analytic solution to the problem.
Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape / Paolo Robuffo, Giordano; Vendittelli, Marilena; J. P., Laumond; P., Soueres. - In: IEEE TRANSACTIONS ON ROBOTICS. - ISSN 1552-3098. - 22:5(2006), pp. 1040-1047. [10.1109/tro.2006.878956]
Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape
VENDITTELLI, Marilena;
2006
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 am analytic solution to the problem.| File | Dimensione | Formato | |
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