By Topic

Time optimal paths for a mobile robot with one trailer

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
M. Chyba ; INRIA, Sophia Antipolis, France ; S. Sekhavat

Optimal paths are in many ways interesting to motion planning. Not only they are obviously the most interesting ones with respect to the optimized criterion, but also they offer a way of studying the topological aspects associated to the controllability of the system. Many works have been carried out successfully on the optimal paths for unicyle and carlike system. This paper aims to extend those results when adding trailers. Characterizing the time optimal paths for a mobile robot with n-trailers is an ambitious task. As a first step, we give an explicit description of the abnormal and singular extremals for a mobile robot with one trailer. This is done with the help of the maximum principle

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

1999