The minimum-time crashing problem for the Dubins' car

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 8, Issue PART 1, 2006, Pages

  Robuffo Giordano, Paolo ^a   Vendittelli, Marilena ^a  

^a SAPIENZA UNIVERSITY OF ROME   (Italy)

Author keywords

Dubins' car; Pontryagin's maximum principle; Shortest paths

Indexed keywords

ROBOTS;

CAR-LIKE ROBOT; DISTANCE FUNCTIONS; DRIVING VELOCITY; NON HOLONOMIC CONSTRAINT; POLYGONAL SHAPES; PONTRYAGIN'S MAXIMUM PRINCIPLE; SHORTEST PATH; TIME OPTIMAL TRAJECTORY;

ACCIDENTS;

EID: 80051591739     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20060906-3-it-2910.00097     Document Type: Conference Paper

References (10)

1. Alterovitz, R., A. Lim, K. Goldberg, G. S. Chirikjian and A. M. Okamura (2005). Steer-ing flexible needles under markov motion un-certainty. In: Proc. IEEE Int. Conf. on Intelligent Robotics and Systems (IROS).
2. Boissonnat, J.D., A. Cerezo and J. Leblond (1992). Shortest paths of bounded curvature in the plane. In: Proc. IEEE Int. Conf. on Robotics and Automation. pp. 2315-2320. (Pubitemid 23615303)
3. Bui, X-N., P. Souëres, J.-D. Boissonnat and J.-P. Laumond (1994). Shortest path synthesis for dubins nonholonomic robot. In: Proc. IEEE Int. Conf. on Robotics and Automation.
4. Dubins, L.E. (1957). On curves of minimal length with a constraint on average curvature and with prescribed initial and terminal positions and tangents. American Journal of Mathematics 79, pp. 497-516.
5. Moutarlier, P., B. Mirtich and J. Canny (1996). Shortest paths for a car-like robot to mani-folds in configuration space. Int. Journal of Robotics Research 15(1), 36-60. (Pubitemid 126547147)
6. Pontryagin, L.S., V.G. Boltyansky, R.V. Gamkre-c lidze and E.F. Mischenko (1962). The Mathematical Theory of Optimal Processes. Wiley, New York.
7. Souëres, P. and J.-D. Boissonnat (1998). Optimal trajectories for nonholonomic mobile robots. In: Robot Motion Planning and Control (Jean-Paul Laumond, Ed.). pp. 93-169. Springer.
8. Souères, P., J-Y. Fourquet and J-P. Laumond (1994). Set of reachable positions for a car. IEEE Trans. Automat. Contr. 39, 1626-1630.
9. Sussmann, H. J. and W. Tang (1991). Shortest paths for the reeds-sheep car: a worked out example of the use of geometric techniques in nonlinear optimal control. Report SYCON-91-10. Rutgers University.
10. Vendittelli, M., J.P. Laumond and C. Nissoux (1999). Obstacle distance for car-like robots. IEEE Trans. on Robotics and Automation 15(4), 678-691.