Result: Two-dimensional motion-planning for nonholonomic robots using the bump-surfaces concept
Title:
Two-dimensional motion-planning for nonholonomic robots using the bump-surfaces concept
Authors:
Source:
Special issue on geometric modeling (Dagstuhl 2005)Computing (Wien. Print). 79(2-4):109-118
Publisher Information:
Wien: Springer, 2007.
Publication Year:
2007
Physical Description:
print, 18 ref
Original Material:
INIST-CNRS
Subject Terms:
Computer science, Informatique, Mathematics, Mathématiques, Sciences exactes et technologie, Exact sciences and technology, Sciences et techniques communes, Sciences and techniques of general use, Mathematiques, Mathematics, Analyse numérique. Calcul scientifique, Numerical analysis. Scientific computation, Analyse numérique, Numerical analysis, Méthodes de calcul scientifique (y compris calcul symbolique, calcul algébrique), Methods of scientific computing (including symbolic computation, algebraic computation), Sciences appliquees, Applied sciences, Informatique; automatique theorique; systemes, Computer science; control theory; systems, Informatique théorique, Theoretical computing, Algorithmique. Calculabilité. Arithmétique ordinateur, Algorithmics. Computability. Computer arithmetics, Algorithme, Algorithm, Algoritmo, Analyse numérique, Numerical analysis, Análisis numérico, Calcul 2 dimensions, Two-dimensional calculations, Calcul scientifique, Scientific computation, Computación científica, Robot mobile, Moving robot, Robot móvil, Surface, Superficie, 65D17, 70B10, 70E17.; Path planning, 93C10, bump-surfaces, motion design, nonholonomic robots, robotics
Document Type:
Conference
Conference Paper
File Description:
text
Language:
English
Author Affiliations:
Department of Mechanical and Aeronautics Engineering University of Patras, Patras, 26500, Greece
Department of Product and Systems Design Engineering University of the Aegean Ermoupolis, Syros, 84100, Greece
Department of Product and Systems Design Engineering University of the Aegean Ermoupolis, Syros, 84100, Greece
ISSN:
0010-485X
Rights:
Copyright 2007 INIST-CNRS
CC BY 4.0
Sauf mention contraire ci-dessus, le contenu de cette notice bibliographique peut être utilisé dans le cadre d’une licence CC BY 4.0 Inist-CNRS / Unless otherwise stated above, the content of this bibliographic record may be used under a CC BY 4.0 licence by Inist-CNRS / A menos que se haya señalado antes, el contenido de este registro bibliográfico puede ser utilizado al amparo de una licencia CC BY 4.0 Inist-CNRS
CC BY 4.0
Sauf mention contraire ci-dessus, le contenu de cette notice bibliographique peut être utilisé dans le cadre d’une licence CC BY 4.0 Inist-CNRS / Unless otherwise stated above, the content of this bibliographic record may be used under a CC BY 4.0 licence by Inist-CNRS / A menos que se haya señalado antes, el contenido de este registro bibliográfico puede ser utilizado al amparo de una licencia CC BY 4.0 Inist-CNRS
Notes:
Computer science; theoretical automation; systems
Mathematics
Mathematics
Accession Number:
edscal.18791822
Database:
PASCAL Archive
Further Information
In this paper, a new method is introduced for finding a near-optimal path of a nonholonomic robot moving in a 2D environment cluttered with static obstacles. The method is based on the Bump-Surfaces concept and is able to deal with robots represented by a translating and rotating rigid body. The proposed approach is applied to car-like robots.