The asymmetric sinistral/dextral markov-dubins problem

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2009, Pages 5649-5654

  Bakolas, Efstathios ^a   Tsiotras, Panagiotis ^a  

^a Georgia Institute of Technology   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CURVATURE CONSTRAINED; ENVIRONMENTAL CONDITIONS; GEOMETRIC TECHNIQUES; HARDWARE FAILURES; LOWER AND UPPER BOUNDS; OPTIMAL CONTROLS; TERMINAL POSITION; VEHICLE NAVIGATION;

GRAPH THEORY;

EID: 77950821232     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2009.5399851     Document Type: Conference Paper

References (19)

1. L. E. Dubins, "On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents," American Journal of Mathematics, vol.79, no.3, 1957.
2. H. J. Sussmann, "The Markov-Dubins problem with angular acceleration control," in Proceedings of 36th IEEE Conference on Decision and Control, (San Diego, CA), pp. 2639-2643, December 1997.
3. E. J. Cockayne and W. C. Hall, "Plane motion of a particle subject to curvature constraints," SIAM Journal on Control, vol.13, pp. 197-220, 1975.
4. A. J. Reeds and R. A. Shepp, "Optimal paths for a car that goes both forward and backwards," Pacific Journal of Mathematics, vol.145, 1990.
5. H. J. Sussmann and G. Tang, "Shortest paths for the Reeds-Shepp car: A worked out example of the use of geometric tecnhiques in nonlinear optimal control," Research Note SYCON-91-110, Rutgers University, New Brunswick, NJ, 1991.
6. J. D. Boissonnat, A. Cérézo, and J. Leblond, "Shortest path synthesis of bounded curvature in the plane," in Proceedings of the 9th IEEE International Conference on Robotics and Automation (ICRA), 1992.
7. X.-N. Bui and J. D. Boissonnat, "The shortest paths synthesis for nonholonomic robots moving forwards," Research Note 2153, Institut National de Recherche en Informatique et en Automatique, Sophia-Antipolis, France, 1993.
8. X.-N. Bui, P. Souérés, J. D. Boissonnat, and J.-P. Laumond, "Shortest path synthesis for Dubins nonholonomic robot," in Proceedings of the 11th IEEE International Conference on Robotics and Automation (ICRA), (San Diego, California), 1994.
9. P. Souéres and J. P. Laumond, "Shortest path synthesis for a car-like robot," IEEE Transactions on Automatic Control, pp. 672-688, 1996.
10. F. Monroy-Pérez, "Non-Euclidean Dubins' problem," Journal of Dynamics and Control Systems, vol.4, pp. 249-272, 1998.
11. H. J. Sussman, "Shortest 3-dimensional path with a prescribed curvature bound," in Proceedings of 34th IEEE Conference on Decision and Control, (New Orleans, LA), pp. 3306-3312, December 1995.
12. J. D. Boissonnat and X.-N. Bui, "Accessibility region for a car that only moves forward along optimal paths," Research Note 2181, Institut National de Recherche en Informatique et en Automatique, Sophia-Antipolis, France, 1994.
13. B. Thomaschewski, "Dubins' problem for the free terminal direction," Preprint, pp. 1-14, 2001.
14. M. Vendittelli, J.-P. Laumond, and C. Nissoux, "Obstacle distance for car-like robots," IEEE Transactions on Robotics and Automation, vol.15, pp. 678-691, 1999.
15. P. R. Giordano, M. Vendittelli, J.-P. Laumond, and P. Souères, "Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape," IEEE Transactions on Robotics and Automation, vol.22, pp. 1040-1047, 2006.
16. T. G. McGee and J. K. Hedrick, "Optimal path planning with a kinematic airplane model," Journal of Guidance, Control, and Dynamics, vol.30, pp. 629-633, 2007.
17. Merriam Webster Dictionary. http://www.merriam-webster.com/dictionary/.
18. P. Souères, J. D. Boissonnat, and J.-P. Laumond, "Optimal trajectories for nonholonomic mobile robots," in Robot Motion Planning and Control, pp. 93-170, Springer, 1998.
19. M. Cesari, Optimization - Theory and Applications. Problems with Ordinary Differential Equations. Geometry-Verlag Berlin Heidelberg: Springer, 1983.