Title :
Nonholonomic path planning for pushing a disk among obstacles
Author :
Agarwal, Pankaj K. ; Latombe, Jean-Claude ; Motwani, Rajeev ; Raghavan, Prabhakar
Author_Institution :
Dept. of Comput. Sci., Duke Univ., Durham, NC, USA
Abstract :
We consider the path-planning problem for a robot pushing an object in an environment containing obstacles. This new variant of the classical robot path-planning problem has several interesting geometric aspects, which we explore. We focus on the setting where the robot makes a point contact with the object which is assumed to be a unit disk, while the obstacles are assumed to be polygonal
Keywords :
path planning; robots; disk pushing; nonholonomic path planning; obstacles; polygonal obstacles; Algorithm design and analysis; Belts; Computer science; Controllability; Path planning; Robots; Shape;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606763
