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

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

doi:10.1109/ROBOT.2006.1642272

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 proceeding › Conference contribution

2 Citations (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 language	English
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	3730-3735
Number of pages	6
Volume	2006
DOIs	https://doi.org/10.1109/ROBOT.2006.1642272
Publication status	Published - 27-12-2006
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: 15-05-2006 → 19-05-2006

Conference

Conference	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	15-05-06 → 19-05-06

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Software
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2006.1642272

Cite this

@inproceedings{9b3f5ddac6dd4986adc471c6a7b01ebc,

title = "Extension of reeds & shepp paths to a robot with front and rear wheel steer",

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.",

author = "Siddharth Sanan and Darshan Santani and Krishna, {K. Madhava} and Henry Hexmoor",

year = "2006",

month = dec,

day = "27",

doi = "10.1109/ROBOT.2006.1642272",

language = "English",

isbn = "0780395069",

volume = "2006",

pages = "3730--3735",

booktitle = "Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006",

note = "2006 IEEE International Conference on Robotics and Automation, ICRA 2006 ; Conference date: 15-05-2006 Through 19-05-2006",

}

Sanan, S, Santani, D, Krishna, KM & 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, 1642272, pp. 3730-3735, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 15-05-06. https://doi.org/10.1109/ROBOT.2006.1642272

TY - GEN

T1 - Extension of reeds & shepp paths to a robot with front and rear wheel steer

AU - Sanan, Siddharth

AU - Santani, Darshan

AU - Krishna, K. Madhava

AU - Hexmoor, Henry

PY - 2006/12/27

Y1 - 2006/12/27

N2 - 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.

AB - 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.

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DO - 10.1109/ROBOT.2006.1642272

M3 - Conference contribution

AN - SCOPUS:33845605973

SN - 0780395069

SN - 9780780395060

VL - 2006

SP - 3730

EP - 3735

BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006

T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006

Y2 - 15 May 2006 through 19 May 2006

ER -

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

Abstract

Conference

All Science Journal Classification (ASJC) codes

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