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Shortest distance paths for wheeled mobile robots

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3 Author(s)
Alexander, J.C. ; Dept. of Math., Maryland Univ., College Park, MD, USA ; Maddocks, J.H. ; Michalowski, B.A.

Minimal distance paths between prescribed initial and final configurations of a wheeled mobile robot are calculated, both analytically and numerically, using methods of optimal control. The construction of these trajectories can be considered as part of an analysis of obstacle avoidance

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:14 ,  Issue: 5 )