An explicit shortest path generation scheme for point stabilization of the car-like robot in free space

Nakju Doh, Wan Kyun Chung, Youngil Youm, Sang R. Oh

Research output: Contribution to journalArticle

Abstract

This paper proposes a shortest path generation scheme for point stabilization of the car-like robot. An implicit shortest point stabilization algorithm has been suggested conceptually by Vendittelli. As an extension, we present an algorithm which is more explicit and faster than previous one. Our scheme provides exact equations for practical implementation. Moreover, its computation time is remarkably lower than the previous one for the case in which the final point changes frequently. We provide a proof of the optimality and validate the performance of our algorithm through the simulation and experiment.

Original languageEnglish
Pages (from-to)115-125
Number of pages11
JournalInternational Journal of Applied Electromagnetics and Mechanics
Volume18
Issue number1-3
Publication statusPublished - 2003 Nov 10
Externally publishedYes

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Keywords

  • Car-like robot
  • Mobile robot
  • Path generation
  • Point stabilization
  • Posture stabilization
  • Shortest path

ASJC Scopus subject areas

  • Computational Mechanics
  • Electrical and Electronic Engineering
  • Mechanics of Materials
  • Physics and Astronomy (miscellaneous)

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