IEEE - Institute of Electrical and Electronics Engineers, Inc. - Using skeletons for nonholonomic path planning among obstacles

Author(s): Mirtich, B. ; Canny, J.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1992
Conference Location: Nice, France, France
Conference Date: 12 May 1992
ISBN (Paper): 0-8186-2720-4
DOI: 10.1109/ROBOT.1992.220060
Regular:

The authors describe a practical path planner for nonholonomic robots in environments with obstacles. The planner is based on building a one-dimensional, maximal clearance skeleton through the... View More

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