Shortest distance paths for wheeled mobile robots

descriptionPublicationkeyboard_double_arrow_right Article 01 Jan 1998Publisher:Institute of Electrical and Electronics Engineers (IEEE)Journal:IEEE Transactions on Robotics and Automation, volume 14, pages 657-662 (issn: 1042-296X,

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Authors: James C. Alexander; John H. Maddocks; Brian A. Michalowski;

doi: 10.1109/70.720342

Shortest distance paths for wheeled mobile robots

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Abstract

Minimal distance paths between prescribed initial and final configurations of a wheeled mobile robot are calculated, both analytically and numerically, using methods of optimal control. The construction of these trajectories can be considered as part of an analysis of obstacle avoidance.

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