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.
UR - https://www.scopus.com/pages/publications/33845605973
UR - https://www.scopus.com/pages/publications/33845605973#tab=citedBy
U2 - 10.1109/ROBOT.2006.1642272
DO - 10.1109/ROBOT.2006.1642272
M3 - Conference contribution
AN - SCOPUS:33845605973
SN - 0780395069
SN - 9780780395060
VL - 2006
T3 - Proceedings - IEEE International Conference on Robotics and Automation
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 -