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

Issue title: ICMIT '01

Article type: Research Article

Authors: Doh, Nakju^a | Chung, Wan Kyun^a | Youm, Youngil^a | Oh, Sang-Rok^b

Affiliations: [a] Robotics & Bio-Mechatronics Laboratory, Department of Mechanical Engineering, Pohang University of Science and Technology, Pohang, Korea. Tel.: +82 54 279 2844; Fax: +82 54 279 5899; E-mail: wkchung@postech.ac.kr | [b] Intelligent System Control Research Center, Korea Institute of Science and Technology, Seoul, Korea. Tel.: +82 2 958 5757; Fax: +82 2 958 5749; E-mail: sroh@amadeus.kist.re.kr

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.

Keywords: shortest path, mobile robot, path generation, point stabilization, posture stabilization, car-like robot

DOI: 10.3233/JAE-2003-279

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 18, no. 1-3, pp. 115-125, 2003