J1

P. Robuffo Giordano, M. Vendittelli, J.-P. Laumond, P. Souères. Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape. IEEE Transactions on Robotics, 22(5):1040-1047, September 2006.

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Abstract

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

BibTex Reference

@article{J1,
   Author = {Robuffo Giordano, P. and Vendittelli, M. and Laumond, J.-P. and Souères, P.},
   Title = {{Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape}},
   Journal = {IEEE Transactions on Robotics},
   Volume = {    22},
   Number = {5},
   Pages = {1040--1047},
   Month = {September},
   Year = {2006}
}

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