Suboptimal paths in the problem of a planar motion with bounded derivative of the curvature

Abstract : We consider the planar motion of a car-like robot with a bounded derivative of the curvature, with given initial and final configuration (i.e. positions, tangent angles and curvatures). The tangent angle and the curvature of the path are assumed to be continuous. When the distance between the initial and the final point is much greater than the initial and final curvatures and the curvature's derivative, we show how to construct a suboptimal path (the cost is the path length). We admit a finite number of cusps in the path.
Type de document :
Rapport
[Research Report] RR-2051, INRIA. 1993
Liste complète des métadonnées

https://hal.inria.fr/inria-00074621
Contributeur : Rapport de Recherche Inria <>
Soumis le : mercredi 24 mai 2006 - 15:55:32
Dernière modification le : jeudi 11 janvier 2018 - 16:02:45
Document(s) archivé(s) le : lundi 5 avril 2010 - 00:12:26

Fichiers

Identifiants

  • HAL Id : inria-00074621, version 1

Citation

Vladimir P.P. Kostov, Elena V. Degtiariova-Kostova. Suboptimal paths in the problem of a planar motion with bounded derivative of the curvature. [Research Report] RR-2051, INRIA. 1993. 〈inria-00074621〉

Partager

Métriques

Consultations de la notice

159

Téléchargements de fichiers

140