Shortest paths synthesis for a car-like robot

DOI10.1109/9.489204MaRDI QIDQ4884777zbMATH OpenOpenAlexFDO

Authors Philippe Souères, J.-P. Laumond

Publication date 15 June 1997

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/9.489204

zbMATH Keywords

shortest pathsPontryagin's maximum principleconstrained controlwheeled vehicleoptimal pathgeometric reasoningcar-like robot

Mathematics Subject Classification ID

Differential games and control (49N70) Pursuit and evasion games (49N75) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(29)

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• Numerical Investigation of the Value Function for the Homicidal Chauffeur Problem with a More Agile Pursuer
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• Single landmark feedback-based time optimal navigation for a differential drive robot
• Census of bounded curvature paths
• Computing the minimum-time interception of a moving target
• Optimal paths for a car that goes both forwards and backwards
• ISS properties of nonholonomic vehicles
• Minimal curvature-constrained paths in the plane with a constraint on arcs with opposite orientations
• Shortest length paths for a differential drive robot keeping a set of landmarks in sight
• Time-optimal Trajectories for a Car-like Robot
• Optimal synthesis in the Reeds and Shepp problem with onesided variation of velocity
• Left-invariant optimal control problems on Lie groups: classification and problems integrable by elementary functions
• Optimal synthesis in the Reeds and Shepp problem with a free final direction
• Control design for autonomous vehicles: a dynamic optimization perspective
• Curvature-constrained directional-cost paths in the plane
• Optimal trajectories of curvature constrained motion in the Hamilton-Jacobi formulation
• A continuation method for motion-planning problems
• Image feedback based optimal control and the value of information in a differential game
• On the minimum-time control problem for differential drive robots with bearing constraints
• A nonlinear programming method for time-optimal control of an omni-directional mobile robot
• Path-following with a bounded-curvature vehicle: a hybrid control approach
• Regular syntheses and solutions to discontinuous ODEs
• A visual feedback-based time-optimal motion policy for capturing an unpredictable evader
• A random-profile approach for trajectory planning of wheeled mobile robots
• Surveillance evasion between two identical differential drive robots
• Optimal-control approach to trajectory planning for a class of mobile robotic manipulations

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