Minimum wheel-rotation paths for differential-drive mobile robots

被引：25

作者：

Chitsaz, Hamidreza ^{[1
]}

LaValle, Steven M. ^{[1
]}

Balkcom, Devin J. ^{[1
]}

Mason, Matthew T. ^{[1
]}

机构：

[1] Univ Illinois, Dept Comp Sci, 1304 W Springfield Ave, Urbana, IL 61801 USA

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

关键词：

D O I：

10.1109/ROBOT.2006.1641938

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Characterizing optimal paths for mobile robots is an interesting, important, and challenging endeavor. Not only they are interesting with respect to the optimized criteria, but also they offer a family of motion primitives that can be used for motion planning in the presence of obstacles. This paper presents characterization of shortest paths for differential-drive mobile robots, with the goal of classifying solutions in the spirit of Dubins curves and Reeds-Shepp curves for car-like robots. To obtain a well-defined notion of shortest, the total amount of wheel rotation is optimized. Using Pontryagin maximum principle and other tools, we establish the existence of optimal trajectories, and derive the set of optimal paths. Some Reeds-Shepp curves appear in the set of optimal paths, whereas there are optimal paths which are different from Reeds-Shepp curves. To the best of our knowledge, this is the first progress on the problem.

引用

页码：1616 / +

页数：2

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