Stable pushing: mechanics, controllability, and planning
International Journal of Robotics Research
Curvature-constrained shortest paths in a convex polygon (extended abstract)
Proceedings of the fourteenth annual symposium on Computational geometry
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Planning Algorithms
Time-optimal Trajectories for an Omni-directional Vehicle
International Journal of Robotics Research
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In this paper we present the minimum-time sequences of rotations and translations that connect two configurations of a rigid body in the plane. The configuration of the body is its position and orientation, given by (x , y, 脦赂 ) coordinates, and the rotations and translations are velocities (x , y, 脦赂 ) that are constant in the frame of the robot. There are no obstacles in the plane. We completely describe the structure of the fastest trajectories, and present a polynomial-time algorithm that, given a set of rotation and translation controls, enumerates a finite set of structures of optimal trajectories. These trajectories are a generalization of the well-known Dubins and Reeds芒聙聰Shepp curves, which describe the shortest paths for steered cars in the plane.