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IJRR
2010

Generalizing Dubins Curves: Minimum-time Sequences of Body-fixed Rotations and Translations in the Plane

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Generalizing Dubins Curves: Minimum-time Sequences of Body-fixed Rotations and Translations in the Plane
This paper presents the minimum-time sequences of rotations and translations that connect two configurations of a rigid body in the plane. The configuration of the body is its position and orientation, given by (x, y, ) coordinates, and the rotations and translations are velocities ( x, y, ) that are constant in the frame of the robot. There are no obstacles in the plane. We completely describes the structure of the fastest trajectories, and present a polynomialtime algorithm that, given a set of rotation and translation controls, enumerates a finite set of structures of optimal trajectories. These trajectories are a generalization of the well-known Dubins and Reeds-Shepp curves, which describe the shortest paths for steered cars in the plane.
Andrei A. Furtuna, Devin J. Balkcom
Added 05 Mar 2011
Updated 05 Mar 2011
Type Journal
Year 2010
Where IJRR
Authors Andrei A. Furtuna, Devin J. Balkcom
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