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  Shortest paths to obstacles for a polygonal Dubins car

Robuffo Giordano, P., & Vendittelli, M. (2009). Shortest paths to obstacles for a polygonal Dubins car. IEEE Transactions on Robotics, 25(5), 1184-1191. doi:10.1109/TRO.2008.2011421.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-C26E-3 Version Permalink: http://hdl.handle.net/21.11116/0000-0002-BE0D-B
Genre: Journal Article

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Robuffo Giordano, P1, 2, Author              
Vendittelli, M, Author
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: In this paper, we characterize the time-optimal trajectories leading a Dubins car in collision with the obstacles in its workspace. Due to the constant velocity constraint characterizing the Dubins car model, these trajectories form a sufficient set of shortest paths between any robot configuration and the obstacles in the environment. Based on these paths,we define and give the algorithm for computing a distance function that takes into account the nonholonomic constraints and captures the nonsymmetric nature of the system. The developments presented here assume that the obstacles and the robot are polygons although the methodology can be applied to different shapes.

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 Dates: 2009-10
 Publication Status: Published in print
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 Rev. Method: -
 Identifiers: DOI: 10.1109/TRO.2008.2011421
BibTex Citekey: 5601
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Title: IEEE Transactions on Robotics
  Other : IEEE Transactions on Robotics and Automation
Source Genre: Journal
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Publ. Info: New York, NY : IEEE
Pages: - Volume / Issue: 25 (5) Sequence Number: - Start / End Page: 1184 - 1191 Identifier: ISSN: 1042-296X
CoNE: https://pure.mpg.de/cone/journals/resource/111099121186002