Abstract
In this paper we pose the following two questions: Given two points, start and target, within a relatively small closed planar area W/spl sub/R/sup 2/, each with a prescribed direction of motion (orientation) in it, and assuming a possibility of reversals of motion: (i) What is the shortest path of bounded curvature that connects the points and lies completely in W? (ii) What is the minimum number of motion reversals (path cusps) one needs to arrive at the target point with the prescribed orientation? Such questions appear in various applications with nonholonomic motion constraints, as for example in motion planning for driverless cars. The proposed approach solves both problems. It makes use of a tool dubbed the reflective unfolding operator which has a clear geometric interpretation and provides an interesting means for solving other trajectory design problems.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
