SHORTEST PATHS OF BOUNDED CURVATURE IN THE PLANE

被引：130

作者：

BOISSONNAT, JD ^{[1
]}

CEREZO, A ^{[1
]}

LEBLOND, J ^{[1
]}

机构：

[1] UNIV NICE,F-06034 NICE,FRANCE

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 1994年 / 11卷 / 1-2期

关键词：

MOTION PLANNING; CAR-LIKE ROBOTS; CONSTRAINED SHORTEST PATHS; OPTIMAL CONTROL; MINIMUM PRINCIPLE OF PONTRYAGIN;

D O I：

10.1007/BF01258291

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Given two oriented points in the plane, we determine and compute the shortest paths of bounded curvature joining them. This problem has been solved recently by Dubins in the no-cusp case, and by Reeds and Shepp otherwise. We propose a new solution based on the minimum principle of Pontryagin. Our approach simplifies the proofs and makes clear the global or local nature of the results.

引用

页码：5 / 20

页数：16

共 7 条

[1]

Alekseev V.M., 1987, OPTIMAL CONTROL

[2] ON CURVES OF MINIMAL LENGTH WITH A CONSTRAINT ON AVERAGE CURVATURE, AND WITH PRESCRIBED INITIAL AND TERMINAL POSITIONS AND TANGENTS [J].