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Conference papers

Car-Like Robots and Moving Obstacles

Thierry Fraichard 1 Alexis Scheuer 1
1 SHARP - Automatic Programming and Decisional Systems in Robotics
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : This paper addresses motion planning for a car-like robot moving in a changing planar workspace, i.e. with moving obstacles. First, this motion planning problem is formulated in the `state-time space' framework. The state-time space of a robot is its state space plus the time dimension. In this framework part of the constraints at hand are translated into static forbidden regions of state-time space, and a trajectory maps to a state-time curve which must respect the remaining constraints. Then an approximate solution to the problem is presented.
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Submitted on : Thursday, May 12, 2005 - 6:58:13 PM
Last modification on : Friday, February 4, 2022 - 3:22:29 AM




Thierry Fraichard, Alexis Scheuer. Car-Like Robots and Moving Obstacles. IEEE Int. Conf. on Robotics and Automation, May 1994, San Diego, California (US), United States. pp.64-69, ⟨10.1109/ROBOT.1994.351009⟩. ⟨inria-00000023⟩



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