ISSN:
1573-0409
Keywords:
Motion planning
;
car-like robots
;
constrained shortest paths
;
optimal control
;
minimum principle of Pontryagin
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract Given two oriented points in the plane, we determine and compute the shortest paths of bounded curvature joining them. This problem has been solved recently by Dubins in the no-cusp case, and by Reeds and Shepp otherwise. We propose a new solution based on the minimum principle of Pontryagin. Our approach simplifies the proofs and makes clear the global or local nature of the results.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF01258291
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