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  Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape

Robuffo Giordano, P., Vendittelli M, Laumond, J.-P., & Souères, P. (2006). Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape. IEEE Transactions on Robotics, 22(5), 1040-1047. doi:10.1109/TRO.2006.878956.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-D033-5 Version Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-D034-3
Genre: Journal Article

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Robuffo Giordano, P1, Author           
Vendittelli M, Laumond, J-P, Author
Souères, P, Author
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 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.

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 Dates: 2006-09
 Publication Status: Issued
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 Identifiers: URI: http://ieeexplore.ieee.org/iel5/8860/35994/01705595.pdf?tp=arnumber=1705595isnumber=35994
DOI: 10.1109/TRO.2006.878956
BibTex Citekey: 5569
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Title: IEEE Transactions on Robotics
Source Genre: Journal
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Pages: - Volume / Issue: 22 (5) Sequence Number: - Start / End Page: 1040 - 1047 Identifier: -