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TECHNICAL BRIEF

A Geometric Path Planner for Car-like Robots

[+] Author and Article Information
Shiang-Fong Chen

Jiansong Deng

Department of Mechanical and Aerospace Engineering, Tri-State University, 1 University Avenue, Angola, IN 46703

J. Mech. Des 122(3), 343-346 (May 01, 1999) (4 pages) doi:10.1115/1.1288403 History: Received May 01, 1999
Copyright © 2000 by ASME
Topics: Robots , Path planning
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References

Lozano-Perez,  T., 1983, “Spatial Planning: A Configuration Space Approach,” IEEE Trans. Comput., C-32, No 2,.
Barraquand, J., and Latombe, J. C., 1990, “Controllability of Mobile Robots with Kinematic Constraints,” Technical Report No. STAN-CS-90-1317, Dept. of Computer Science, Stanford University.
Jiang,  K., Seneviratne,  L. D., and Earles,  S. W. E., 1996, “Motion Planning with Reversal Manoeuvres for a Non-Holonomic Constrained Robot,” Proc. ImechE J. Eng. Manuf., 210, pp. 487–497.
Svestka, P., and Overmars, M. H., 1998, “Probabilistic Path Planning,” Robot Motion Planning and Control, Laumond, J-P, ed., Springer, New York.
Reeds,  J. A., and Shepp,  L. A., 1990, “Optimal Paths for a Car that Goes Both Forwards and Backwards,” Pac. J. Math., 145, No. 2, pp. 367–393.
Laumond,  J-P., Jacobs,  P., Taix,  M., and Murray,  R. M., 1994, “A Motion Planner for Nonholonomic Mobile Robots,” IEEE Trans. Rob. Autom. , 10, No. 5, October pp. 577–593.
Ahrikencheikh,  C., Seireg,  A. A., and Ravani,  B., 1994, “Optimal and Conforming Motion of a Point in a Constrained Plane,” ASME J. Mech. Des., 116, No. 2, pp. 474–479.
Chen,  S. F., Oliver,  J., and Fernandez-Baca,  D., 1998, “A Fast Algorithm for Planning Collision-Free Paths with Rotation,” ASME J. Mech. Des., 120, pp. 52–57.

Figures

Grahic Jump Location
Passage network for one orientation
Grahic Jump Location
Moving a free flying robot by slabbing method
Grahic Jump Location
Step sizes for the robot
Grahic Jump Location
Choose the closest grid point
Grahic Jump Location
Implementation examples

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