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Feasible Trajectories for Mobile Robots with Kinematic and Environment Constraints Jean-Paul Laumond
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Car-Like Robot y x dx/dt = v cos dy/dt = v sin d dt = (v/L) tan | < dy/dx = tan L Configuration (x,y, )
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Reachable Configurations (x,y) CYL(x,y, /2, ) x y
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Type 1 Maneuver sidewise motion CYL(x,y, , ) = 2 /cos = 2 (1/ cos - 1)
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Type 2 Maneuver rotation around a point
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Coverage of a Path by Cylinders x y +
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Path Transform
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Example
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Other Example
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“Good” Set of Maneuvers Reeds and Shepp Curves J.A. Reeds and L.A. Shepp. Optimal Paths for a Car That Goes Both Forwards and Backwards. Pacific Journal of Mathematics, 145(2):367-393, 1990.
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