Geometric modeling
Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Operations research: an introduction, 4th ed.
Operations research: an introduction, 4th ed.
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
Shortest paths for a car-like robot to manifolds in configuration space
International Journal of Robotics Research
Motion planning for a steering-constrained robot through moderate obstacles
STOC '95 Proceedings of the twenty-seventh annual ACM symposium on Theory of computing
Proceedings of the twelfth annual symposium on Computational geometry
Position estimation for mobile robots in dynamic environments
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
The complexity of the two dimensional curvature-constrained shortest-path problem
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Approximation algorithms for curvature-constrained shortest paths
Proceedings of the seventh annual ACM-SIAM symposium on Discrete algorithms
An effective mobile robot educator with a full-time job
Artificial Intelligence - Special issue on applications of artificial intelligence
Probabilistic robot navigation in partially observable environments
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Real-time map building and navigation for autonomous robots inunknown environments
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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This paper addresses the problem of finding a nonholonomic path subject to a curvature restriction, to be tracked by a wheeled autonomous navigation vehicle. This robot is able to navigate in a structured environment, with obstacles modeled as polygons, thus constituting a model based system. The path planning methodology begins with the conditioning of the polygonal environment by offsetting each polygon in order to avoid the possibility of collision with the mobile. Next, the modified polygonal environment is used to compute a preliminary shortest path (PA) between the two extreme positions of the trajectory in the plane (x, y). This preliminary path (PA) does not yet consider the restrictions on the curvature and is formed only by straight line segments. A smoothing process follows in order to obtain a path (PS) that satisfies curvature restrictions which consist basically of joining the straight line segments by circular arcs of minimum radius R (filleting). Finally, the initial and final orientation of the vehicle are accounted for. This is done using a technique we have called the Star Algorithm, because of the geometric shape of the resulting maneuvers. A final complete path (PC) is thus obtained.