An explicit shortest path generation scheme for point stabilization of the car-like robot in free space

Authors
Doh, NChung, WKYoum, YOh, SR
Issue Date
2003-08
Publisher
IOS PRESS
Citation
INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, v.18, no.1-3, pp.115 - 125
Abstract
This paper proposes a shortest path generation scheme for point stabilization of the car-like robot. An implicit shortest point stabilization algorithm has been suggested conceptually by Vendittelli. As an extension, we present an algorithm which is more explicit and faster than previous one. Our scheme provides exact equations for practical implementation. Moreover, its computation time is remarkably lower than the previous one for the case in which the final point changes frequently. We provide a proof of the optimality and validate the performance of our algorithm through the simulation and experiment.
Keywords
POSITIONS; POSITIONS; shortest path; mobile robot; path generation; point stabilization; posture stabilization; car-like robot
ISSN
1383-5416
URI
https://pubs.kist.re.kr/handle/201004/138388
DOI
10.3233/JAE-2003-279
Appears in Collections:
KIST Article > 2003
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML

qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE