DocumentCode
1140653
Title
Set of reachable positions for a car
Author
Souères, Philippe ; Fourquet, Jean-Yves ; Laumond, Jean-Paul
Author_Institution
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Volume
39
Issue
8
fYear
1994
fDate
8/1/1994 12:00:00 AM
Firstpage
1626
Lastpage
1630
Abstract
This paper shows how to compute the reachable positions for a model of a car with a lower bounded turning radius that moves forward and backward with a constant velocity. First, the authors compute the shortest paths when the starting configuration (i.e., position and direction) is completely specified and the goal is only defined by the position with the direction being arbitrary. Then the authors compute the boundary of the region reachable by such paths. Such results are useful in motion planning for nonholonomic mobile robots
Keywords
adaptive control; automobiles; mobile robots; path planning; car; lower bounded turning radius; motion planning; nonholonomic mobile robot; reachable positions; shortest paths; Adaptive control; Automatic control; Control systems; Electric variables control; Nonlinear control systems; Nonlinear systems; Robot control; Robotics and automation; Sliding mode control; Turning;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.310037
Filename
310037
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