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Departability motion for car-like robot based on GVG roadmap
- Authors
- Yuan,Quan; Lee, Ji Yeong; Han,Changsoo
- Issue Date
- Oct-2012
- Keywords
- convex set; departability; GVG roadmap; nonholonomic; sensor based
- Citation
- International Conference on Control, Automation and Systems, pp.975 - 979
- Indexed
- SCOPUS
- Start Page
- 975
- End Page
- 979
- ISSN
- 1598-7833
- Abstract
- This paper presents an algorithm, based on conventional GVG that enables a car-like robot find a collision free path from depart configuration to some goal position in an environment containing some convex obstacles. Prior research on GVG prescribed path for a circular robot. The circular robot is holonomic system, but this time GVG is used in nonholonomic system. The proposed algorithm enables the car-like robot depart the GVG to the goal position with the nonholonomic path. © 2012 ICROS.
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Related Researcher
- Lee, Ji Yeong
- ERICA 공학대학 (DEPARTMENT OF ROBOT ENGINEERING)