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This paper presents a motion planning algorithm for generating optimal collision-free paths for robotic vehicle with two trailers moving autonomously. The proposed algorithm is based on combination between artificial potential field method (APF) and optimal control theory. The optimal control theory is applied to generate an optimal collision-free path for robotic vehicle from a starting point to...
This paper presents an advanced algorithm for optimal motion planning of non-holonomic mobile robots in presence of multi obstacles. The proposed method is based on optimal control theory. To formulate optimal control problem, an appropriate objective function is assumed and the full nonlinear dynamic equations of non-holonomic mobile robot are used as constraints of problem. Also, for obstacles avoidance...
This paper shows how to compute the nonholonomic distance between a polygonal car-like robot and polygonal obstacles. The solution extends previous work of Reeds and Shepp by finding the shortest path to a manifold (rather than to a point) in configuration space. Based on optimal control theory, the proposed approach yields an analytic solution to the problem
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