Extension of reeds & shepp paths to a robot with front and rear wheel steer

Siddharth Sanan, Darshan Santani, K. Madhava Krishna, Henry Hexmoor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents an algorithm for extending RS paths for a robot with both front and rear wheel steer. We call such robots as FR steer. The occurrence of such paths is due to the additional maneuver possible in such a robot which we call parallel steer, in addition to the ones already present in a vehicle with only front wheel steering. Hence we extend the optimal path set A, containing only a single element to a set Ω, containing n elements, thereby extending its configuration set along the optimal path from the initial to the final configuration. This extension of the set A to set Ω is made possible by introducing a special set, which we call the Parallel Steer (PS) Set. Such an extension of the configuration set would increase the size of the final configuration set achievable by a path that is optimal in free space. In the following discussion, we shall term all paths whose length is equal to an RS path as optimal.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages3730-3735
Number of pages6
Volume2006
DOIs
Publication statusPublished - 27-12-2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 15-05-200619-05-2006

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period15-05-0619-05-06

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Sanan, S., Santani, D., Krishna, K. M., & Hexmoor, H. (2006). Extension of reeds & shepp paths to a robot with front and rear wheel steer. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (Vol. 2006, pp. 3730-3735). [1642272] https://doi.org/10.1109/ROBOT.2006.1642272