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

  • Authors:

  • P. R. Giordano;M. Vendittelli;J. -P. Laumond;P. Soueres

  • Affiliations:

  • Dipt. di Inf. e Sistemistica, Rome Univ.;-;-;-

  • Venue:
  • IEEE Transactions on Robotics
  • Year:
  • 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