抄録
We propose a practical approach which allow a tractor-trailer robot to plan and navigates a path considering its shape and its kinematics constraint, however, without generating the configuration space for a sized robot. The operator can choose his preference of forward or backward paths by motion cost assignments. The path is generated in three stages: (1) road map analysis, (2) robot's states and transitions states generation, and (3) path search and motions generations. The planner has been tested on a tractor-trailer robot using different trailer sizes, demonstrating its ability for automatic generation of path which may include even backward motions.
| 本文言語 | English |
|---|---|
| ページ | 989-996 |
| ページ数 | 8 |
| 出版ステータス | Published - 1997 12月 1 |
| イベント | Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr 継続期間: 1998 9月 7 → 1998 9月 11 |
Other
| Other | Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) |
|---|---|
| City | Grenoble, Fr |
| Period | 98/9/7 → 98/9/11 |
ASJC Scopus subject areas
- 制御およびシステム工学
- ソフトウェア
- コンピュータ ビジョンおよびパターン認識
- コンピュータ サイエンスの応用