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Browse Journals & Magazines > Automatic Control, IEEE Trans ...> Volume:39 Issue:8 Help

Set of reachable positions for a car

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3 Author(s)
Soueres, P. ; Lab. d''Autom. et d''Anal. des Syst., CNRS, Toulouse, France ; Fourquet, J. ; Laumond, J.-P.

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

Published in:
Automatic Control, IEEE Transactions on  (Volume:39 ,  Issue: 8 )

Date of Publication: Aug 1994

Page(s):
1626 - 1630
ISSN :
0018-9286
INSPEC Accession Number:
4761396
Digital Object Identifier :
10.1109/9.310037
Product Type:
Journals & Magazines
Date of Current Version :
06 August 2002
Issue Date :
Aug 1994
Sponsored by :
IEEE Control Systems Society

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