Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal 
shape

Robuffo Giordano, P; Vendittelli , M; Laumond, J-P; Souères, P

doi:10.1109/TRO.2006.878956

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Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape

Robuffo Giordano, P., Vendittelli, M., Laumond, J.-P., & Souères, P. (2006). Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape. IEEE Transactions on Robotics, 22(5), 1040-1047. doi:10.1109/TRO.2006.878956.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-D033-5 Version Permalink: https://hdl.handle.net/21.11116/0000-0004-833B-6

Genre: Journal Article

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https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1705595 (Publisher version) Open Access status unknown

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Robuffo Giordano, P¹, Author
Vendittelli , M, Author
Laumond, J-P, Author
Souères, P, Author

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1External Organizations, ou_persistent22

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Abstract: This paper shows how to compute the nonholonomic distance between a polygonal car-like robot and polygonal obstacles. The solution extends previous work of Reeds and Shepp by finding the shortest path to a manifold (rather than to a point) in configuration space. Based on optimal control theory, the proposed approach yields an analytic solution to the problem.

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Dates: Date issued: 2006-09

Publication Status: Issued

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Identifiers: DOI: 10.1109/TRO.2006.878956
BibTex Citekey: 5569

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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: 22 (5) Sequence Number: - Start / End Page: 1040 - 1047 Identifier: ISSN: 1042-296X
CoNE: https://pure.mpg.de/cone/journals/resource/111099121186002