Shortest Distance Paths for Wheeled Mobile Robots

James C. Alexander, John H. Maddocks, Brian A. Michalowski

IEEE Transactions on Robotics and Automation 14, 5 (1998) 657-662

Abstract
Minimal distance paths between prescribed initial and final configurations of a wheeled mobile robot are calculated, both analytically and numerically, using methods of optimal control. The construction of these trajectories can be considered as part of an analysis of obstacle avoidance.

Keywords
wheeled mobile robots, minimization, paths, route, obstacle avoidance, Reeds-Shepp