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On optimal nonholonomic paths in a limited space

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2 Author(s)
Shkel, A.M. ; Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA ; Lumelsky, V.J.

This work addresses the problem of finding the shortest path for a vehicle (say, a mobile robot or a car) moving in a limited workspace. The proposed approach makes use of a tool dubbed the reflective unfolding operator which has a clear geometric interpretation and provides an interesting means for solving other trajectory design problems. The authors' previously reported result (1997) which relates to the special case of a car maneuvering within a disc-shaped area, is extended here to the general case of an arbitrarily shaped area. The approach is illustrated by computer simulations

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:3 )

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