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

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4 Author(s)
Giordano, P.R. ; Dipt. di Inf. e Sistemistica, Rome Univ. ; Vendittelli, M. ; Laumond, J.-P. ; Soueres, P.

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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Robotics, IEEE Transactions on  (Volume:22 ,  Issue: 5 )