Car-like robots and moving obstacles
- 8 May 1994
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
This paper addresses motion planning for a car-like robotmoving in a changing planar workspace, i.e. with moving obstacles. First, thismotion planning problem is formulated in the state-time space framework. Thestate-time space of a robot is its state space plus the time dimension. In thisframework part of the constraints at hand are translated into static forbiddenregions of state-time space, and a trajectory maps to a state-time curve whichmust respect the remaining constraints. Then an ...Keywords
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