Obstacle distance for car-like robots

被引:64
作者
Vendittelli, M [1 ]
Laumond, JP
Nissoux, C
机构
[1] Univ Rome La Sapienza, Dipartimento Informat & Sistemist, I-00184 Rome, Italy
[2] CNRS, LAAS, F-31077 Toulouse, France
来源
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1999年 / 15卷 / 04期
关键词
car-like robots; nonholonomic distance; shortest paths;
D O I
10.1109/70.781973
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 [计算机科学与技术];
摘要
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.
引用
收藏
页码:678 / 691
页数:14
相关论文
共 35 条
[1]
AGARWAL PK, 1995, P ACM S COMP GEOM
[2]
NONHOLONOMIC MULTIBODY MOBILE ROBOTS - CONTROLLABILITY AND MOTION PLANNING IN THE PRESENCE OF OBSTACLES [J].
BARRAQUAND, J ;
LATOMBE, JC .
ALGORITHMICA, 1993, 10 (2-4) :121-155
[3]
BARRAQUAND J, 1989, REV INTELLIGENCE ART, V3, P77
[4]
Boissonnat J.-D, 1994, 2181 INRIA
[5]
Boissonnat J.-D., 1992, P IEEE INT C ROB AUT
[6]
BOISSONNAT JD, 1996, P ACM S COMP GEOM
[7]
Bui X-N, 1994, P IEEE INT C ROB AUT
[8]
COCKAYNE EJ, 1975, SIAM J CONTR, V13
[9]
On shortest paths for a car-like robot maneuvering around obstacles [J].
Desaulniers, G .
ROBOTICS AND AUTONOMOUS SYSTEMS, 1996, 17 (03) :139-148