Region of accessibility for a car-like robot

Author

Soueres, P. ; Fourquet, J.-Y. ; Laumond, J.P.

Author_Institution

LAAS/CNRS, Toulouse, France

Volume

2

fYear

1993

fDate

26-30 Jul 1993

Firstpage

1304

Abstract

Shows how to compute the region of accessibility for a model of a car that moves forwards and backwards with a lower bounded turning radius and a constant velocity. This problem deals with the computation of the shortest paths when the starting configuration i.e., position and direction, is completely specified and the goal is only defined by a position letting free the direction. The authors first exhibit the shortest path for any goal position and show its uniqueness. Then they compute the boundary of the region reachable by such paths. Such regions are useful in motion planning for a nonholonomic mobile robot

Keywords

automobiles; accessibility region; bounded turning radius; car-like robot; constant velocity; goal position; motion planning; nonholonomic mobile robot; reachability; shortest paths; starting configuration; turning circle; uniqueness; Computational complexity; Electronic mail; Mobile robots; Motion planning; Optimal control; Orbital robotics; Path planning; Robot kinematics; Shape; Turning;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on

Conference_Location

Yokohama

Print_ISBN

0-7803-0823-9

Type

conf

DOI

10.1109/IROS.1993.583758

Filename

583758